diff --git a/M&T/select_fruit/example53/output/operation_sequence.json b/M&T/select_fruit/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example54/env_config/env_config.json b/M&T/select_fruit/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..63b211e976358711683d33271fa9e45a8637a23c --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example54/input/input.png b/M&T/select_fruit/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fd7c92130b7fe8a3d9ede8e8440cb229586d2022 --- /dev/null +++ b/M&T/select_fruit/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:339d59a99d08ae5aa225ff768a2225c7f7c6bf4bafde1b5039b5324ae630146e +size 864667 diff --git a/M&T/select_fruit/example54/input/input_mask.png b/M&T/select_fruit/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c7520369a0361a89658ef0956255649e36ae5085 --- /dev/null +++ b/M&T/select_fruit/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:068a6211f8cee372a3d5392423694d65ac92547cfa8f228d149a820d5cbaa7d9 +size 756709 diff --git a/M&T/select_fruit/example54/input/instruction.txt b/M&T/select_fruit/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example54/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example54/output/operation_sequence.json b/M&T/select_fruit/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example55/env_config/env_config.json b/M&T/select_fruit/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9116db556936a3051fcd783e751caee04d79e321 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example55/input/input.png b/M&T/select_fruit/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ebe716365798ba26a839476966a9d2cce5d82bdf --- /dev/null +++ b/M&T/select_fruit/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:566175fb9a78eb7d1b0dd6e0b26e22199f76e2cc3c5bad99d40bb1ffbb63ea37 +size 878308 diff --git a/M&T/select_fruit/example55/input/input_mask.png b/M&T/select_fruit/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f7554fcb59b11f787c357cbeb841d3ba7d7634f2 --- /dev/null +++ b/M&T/select_fruit/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2c096724e5b0f4b44990cbf3638ba83767f7cafa86e87aa770b4ed99c89418d +size 778751 diff --git a/M&T/select_fruit/example55/input/instruction.txt b/M&T/select_fruit/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example55/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example55/output/operation_sequence.json b/M&T/select_fruit/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example56/env_config/env_config.json b/M&T/select_fruit/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a2cbba730c849cc2d6a241f3621bf40fd0312f4b --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example56/input/input.png b/M&T/select_fruit/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..68680ac783331c7e24e43021dac06632273ec112 --- /dev/null +++ b/M&T/select_fruit/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9ffe5aadc3b2a09bd13e07a69ff6ff895ff2ba6dfbe8917ad5c065bd35af8c3 +size 887789 diff --git a/M&T/select_fruit/example56/input/input_mask.png b/M&T/select_fruit/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..54b4c3eb85d6f5a2dec2d0ae27354c14089a3cd5 --- /dev/null +++ b/M&T/select_fruit/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d155ad57335c2d4c2e4189f691993136292da218d69fc8e1f7a44badff00856 +size 788179 diff --git a/M&T/select_fruit/example56/input/instruction.txt b/M&T/select_fruit/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example56/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example56/output/operation_sequence.json b/M&T/select_fruit/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example57/env_config/env_config.json b/M&T/select_fruit/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..45ea23bd0ab0df895b2d6db93528914a522acc89 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example57/input/input.png b/M&T/select_fruit/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2b1906373cc091c837661bb8cedeaef6cc18b50d --- /dev/null +++ b/M&T/select_fruit/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6431db40adc8fe9298f3c4693584837082397d55cf447345d1aabe259ebc6e1 +size 898523 diff --git a/M&T/select_fruit/example57/input/input_mask.png b/M&T/select_fruit/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7eb151210ea8f4fc9e3c1705f8bae688b2736249 --- /dev/null +++ b/M&T/select_fruit/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ee154477d795943f80db14e31cdc272c33501ad5bcb2707c5f339b96e1d0b0c +size 790242 diff --git a/M&T/select_fruit/example57/input/instruction.txt b/M&T/select_fruit/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example57/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example57/output/operation_sequence.json b/M&T/select_fruit/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example58/env_config/env_config.json b/M&T/select_fruit/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..54fc23cec331565a8eb97427a5c51131840e7683 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example58/input/input.png b/M&T/select_fruit/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5af665cdd33baa368bbf2d504165e2abaf0f1582 --- /dev/null +++ b/M&T/select_fruit/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15c2d3a23c9748d9d46adddc70a20dacf7ca76e326a9e2dfdbb6d0b1def2d81 +size 867065 diff --git a/M&T/select_fruit/example58/input/input_mask.png b/M&T/select_fruit/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..72c55c36960704eaf7e06fee29b2c83fa18c1249 --- /dev/null +++ b/M&T/select_fruit/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e506167d8ba3c361f59eb896425040b553b2ce46a5e23977c37f6930f4c9fbe +size 777159 diff --git a/M&T/select_fruit/example58/input/instruction.txt b/M&T/select_fruit/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example58/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example58/output/operation_sequence.json b/M&T/select_fruit/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example59/env_config/env_config.json b/M&T/select_fruit/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2f332d07926b1a0c03223490d224f48ab66d03 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example59/input/input.png b/M&T/select_fruit/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f2528843782478f1f3eaff1c4051167eb3b7d837 --- /dev/null +++ b/M&T/select_fruit/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b82f997f3c4ea29dfe9b8163bf2ed1281821f397149004c8eafb9693b879813f +size 877739 diff --git a/M&T/select_fruit/example59/input/input_mask.png b/M&T/select_fruit/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4951c7f555c4acb93fca250899a35be389987d37 --- /dev/null +++ b/M&T/select_fruit/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dcf23832cce71fb4095140612e68e55d263795ac4ed52d3e3f79dc68e8539b7 +size 781096 diff --git a/M&T/select_fruit/example59/input/instruction.txt b/M&T/select_fruit/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example59/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example59/output/operation_sequence.json b/M&T/select_fruit/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example6/env_config/env_config.json b/M&T/select_fruit/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..002912540971bf47756d23764c50e8f6d9b8e3c9 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example6/input/input.png b/M&T/select_fruit/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8d6c933757d2a0db4424d598ac76bd971c319ae3 --- /dev/null +++ b/M&T/select_fruit/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8ab27bb19ac56f0bd7f356fcebcb6fc4622f9b047f19ffd953bf8147605c97f +size 858513 diff --git a/M&T/select_fruit/example6/input/input_mask.png b/M&T/select_fruit/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7e4b26fa0583a893db46fa1213f20ba3981c89c7 --- /dev/null +++ b/M&T/select_fruit/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0812528497bd76d4f39f7ecc3ba22562c3dbb28f90faced98b3a7d9c0d8f0b3 +size 760538 diff --git a/M&T/select_fruit/example6/input/instruction.txt b/M&T/select_fruit/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example6/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example6/output/operation_sequence.json b/M&T/select_fruit/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example60/env_config/env_config.json b/M&T/select_fruit/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f483e5086f18df381aeb2ea7f7ee87726d05dbc0 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example60/input/input.png b/M&T/select_fruit/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f6359e3f2182a73f5042305a02d3d2e6a2ee499d --- /dev/null +++ b/M&T/select_fruit/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32596262614546921ef60f53116261f50b829dd2d90670d098562e6a2b2e271f +size 851600 diff --git a/M&T/select_fruit/example60/input/input_mask.png b/M&T/select_fruit/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8567d461314e8aa5b6abf87dfb104749d87104bc --- /dev/null +++ b/M&T/select_fruit/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70c7092bd02c6f83c162ca198dcafa7253311f98830594c48345474c6c729566 +size 760341 diff --git a/M&T/select_fruit/example60/input/instruction.txt b/M&T/select_fruit/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example60/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example60/output/operation_sequence.json b/M&T/select_fruit/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example61/env_config/env_config.json b/M&T/select_fruit/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7fed5f42f5ba42a7f78c5b1c1fea62806b17de87 --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example61/input/input.png b/M&T/select_fruit/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e864ae7bbdca582ace6031f9a21cacba95648402 --- /dev/null +++ b/M&T/select_fruit/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b06e09c03fb21f887871f9cd56ed1cbd56f8941f7e2b986507b83c24f82d8be +size 845556 diff --git a/M&T/select_fruit/example61/input/input_mask.png b/M&T/select_fruit/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..78d79d25209c4fbc804637afc8dc675e496a9fa3 --- /dev/null +++ b/M&T/select_fruit/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:328a077cc7f5bd29ccd62e5eda3ead2a79c19d257f2a9a7a7367e126a8377dbe +size 750638 diff --git a/M&T/select_fruit/example61/input/instruction.txt b/M&T/select_fruit/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example61/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example61/output/operation_sequence.json b/M&T/select_fruit/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/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 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example62/env_config/env_config.json b/M&T/select_fruit/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c9906e65bf59ebe0bd5e6a00ce013df030a82d2a --- /dev/null +++ b/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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example62/input/input.png b/M&T/select_fruit/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ed0e6ccde48bf238916fa1853cd274926d56c992 --- /dev/null +++ b/M&T/select_fruit/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:613d1594ae0e3de8598b51eb98b8731d1b6e719cf9a7b7fd9f78a3d08c78e1f1 +size 908884 diff --git a/M&T/select_fruit/example62/input/input_mask.png b/M&T/select_fruit/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9843c17921811eff36b0b8cbfc98ee4cf45ce835 --- /dev/null +++ b/M&T/select_fruit/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a777ad47c1cf87fb565ab447070752a2276cd08cb4a1354fa458b81e40580afa +size 805966 diff --git a/M&T/select_fruit/example62/input/instruction.txt b/M&T/select_fruit/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example62/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example62/output/operation_sequence.json b/M&T/select_fruit/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example62/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example63/env_config/env_config.json b/M&T/select_fruit/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0192ac23df345b52d196e628d94524ea241bc4 --- /dev/null +++ b/M&T/select_fruit/example63/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.146313026119832e-10, + -1.330531073674593e-10, + -7.553963103396176e-07 + ], + "orientation": [ + 1.0, + -1.2952134086792857e-10, + -1.5789846435464625e-10, + 1.0061904683170554e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", + "position": [ + -0.03811100838140568, + 0.11461431314881806, + 0.7660948965305301 + ], + "orientation": [ + 0.9995763264055251, + 0.0005390878046192889, + 0.00013826482851674705, + -0.029100823988529523 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_18/model.xml", + "position": [ + 0.2597759053224335, + -0.17647139909765575, + 0.7900191256287539 + ], + "orientation": [ + 0.9983223813528761, + 0.005189000738402687, + -0.0009262152205935549, + 0.05765968510688796 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_11/model.xml", + "position": [ + -0.2616148746364891, + -0.15975457638415871, + 0.798425379367855 + ], + "orientation": [ + 0.9970486846759811, + -0.00854270202534424, + 0.0020999752160703595, + -0.07626619652306076 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_3/model.xml", + "position": [ + 0.271107847116827, + 0.2618713635750037, + 0.790811582586661 + ], + "orientation": [ + 0.9975348963697435, + 0.0037177077135720164, + 0.009605407604341497, + -0.06941214100368553 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_13/model.xml", + "position": [ + -0.27031727281606505, + 0.28471173891355, + 0.7863023880198199 + ], + "orientation": [ + 0.9946334532493797, + -0.07317068480235198, + 0.07057914889841885, + -0.019207506437412248 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example63/input/input.png b/M&T/select_fruit/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..781c952cb0c6ca3443952e2d7410d92ab8e49101 --- /dev/null +++ b/M&T/select_fruit/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afcc6d2c4f81a9a30884d6e152453eaa7467d4f4d7a0864be2567e7363127f5a +size 865585 diff --git a/M&T/select_fruit/example63/input/input_mask.png b/M&T/select_fruit/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..20f2b7aedddef2fb9d9b5be08809ca1887024d6e --- /dev/null +++ b/M&T/select_fruit/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac1616ed06e3bc1503aa6ef195d9989b115986847171d9060e6bf68e780965e8 +size 771136 diff --git a/M&T/select_fruit/example63/input/instruction.txt b/M&T/select_fruit/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example63/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example63/output/operation_sequence.json b/M&T/select_fruit/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example63/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example64/env_config/env_config.json b/M&T/select_fruit/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5ffb49f19ca199dbf6d8ab69c4dd9abeb685c998 --- /dev/null +++ b/M&T/select_fruit/example64/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.3088597153458086e-10, + 2.694795266476035e-10, + -7.5550104364826e-07 + ], + "orientation": [ + 1.0, + -2.57876055199742e-10, + -1.555182141884056e-10, + -1.0823975825865848e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.25766516234612596, + 0.2693258669950816, + 0.7674857936702534 + ], + "orientation": [ + 0.9981979714813213, + 5.091094200032739e-08, + -1.6775043025644998e-08, + -0.06000674737538103 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_3/model.xml", + "position": [ + 0.2570449843435848, + -0.1708655884678373, + 0.7956857893243576 + ], + "orientation": [ + 0.9972943765213861, + 0.00038220617074090536, + -0.008067263189707156, + 0.0730664063841273 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_14/model.xml", + "position": [ + -0.22010310109088155, + -0.18994886132675273, + 0.7973370212345707 + ], + "orientation": [ + 0.9966984988833305, + 0.03594009414185486, + -0.007973054388211293, + -0.0723660304321947 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_21/model.xml", + "position": [ + 0.21097897776904143, + 0.2780527825912859, + 0.7766974519328603 + ], + "orientation": [ + 0.9999146619436695, + 0.009242169843153153, + -0.008659278450983977, + -0.0032043756607514936 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_2/model.xml", + "position": [ + 0.047480725417261574, + 0.006427465223463986, + 0.7895473292549482 + ], + "orientation": [ + 0.998127871469923, + -0.0004451949171024868, + -0.002357525473700648, + -0.06111461421009156 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example64/input/input.png b/M&T/select_fruit/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..95e755541e36f17d09d207745e1d8ffdd655931f --- /dev/null +++ b/M&T/select_fruit/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d324bba0a84087aa8f01f7e26d42b4639d50fce7030ebf9c81573f5166622c7 +size 861129 diff --git a/M&T/select_fruit/example64/input/input_mask.png b/M&T/select_fruit/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ff11e46569de1ae9c05bc4c398b88872720cbd11 --- /dev/null +++ b/M&T/select_fruit/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99dd1a4e45748f30e763f1789db212924ff5c4c629b707d85747c71690f0f128 +size 762544 diff --git a/M&T/select_fruit/example64/input/instruction.txt b/M&T/select_fruit/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example64/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example64/output/operation_sequence.json b/M&T/select_fruit/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example64/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example65/env_config/env_config.json b/M&T/select_fruit/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2277ff60e806c4aa444e941982d6e21b777fa1da --- /dev/null +++ b/M&T/select_fruit/example65/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.693807072965225e-10, + -4.465240506042613e-10, + -7.7179048152975e-07 + ], + "orientation": [ + 1.0, + -3.1710654598477247e-09, + -3.9425335265925575e-09, + -1.8457343179441905e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", + "position": [ + -0.143863747306913, + 0.11447514596997259, + 0.7599386135832683 + ], + "orientation": [ + 0.9998474655984241, + 3.633814223378864e-05, + 3.659707011579999e-06, + 0.017465514666187044 + ], + "class": "Plate" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_11/model.xml", + "position": [ + 0.3008441490217487, + -0.17305590560067294, + 0.7903552141652426 + ], + "orientation": [ + 0.9795891537095761, + -0.032391271697841235, + 0.19495197766191125, + -0.03673719992137204 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_4/model.xml", + "position": [ + 0.26650993325178396, + 0.2676572412679042, + 0.7911765376707582 + ], + "orientation": [ + 0.9808041347637964, + -0.1747421281479449, + 0.049646411758359855, + -0.0708778645282672 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_17/model.xml", + "position": [ + -0.29021817509068654, + -0.18262192185602222, + 0.7883597464073719 + ], + "orientation": [ + 0.9995533098443853, + -0.016058321829698883, + -0.003906606365322231, + 0.0249007932776085 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example65/input/input.png b/M&T/select_fruit/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3a79d7951119321845f8cb08cac28bdebdfb2ebd --- /dev/null +++ b/M&T/select_fruit/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a79a79a5ba863e0959aa6f9f4c57b4492d4913e60d47fefd32663a21089811d +size 827698 diff --git a/M&T/select_fruit/example65/input/input_mask.png b/M&T/select_fruit/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e3f441a88da1f630b9ecf723bcdbc0fe0ae681c9 --- /dev/null +++ b/M&T/select_fruit/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a5a21eb278bdd0666af46f403d800b417306d3bfcf577aee6d22b61f1593a61 +size 740879 diff --git a/M&T/select_fruit/example65/input/instruction.txt b/M&T/select_fruit/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example65/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example65/output/operation_sequence.json b/M&T/select_fruit/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example65/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example66/env_config/env_config.json b/M&T/select_fruit/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..50d95a147d41480c055e56ddd4aa0770e1245ee4 --- /dev/null +++ b/M&T/select_fruit/example66/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.820032342268399e-10, + -1.4528788321473298e-10, + -7.552848753727395e-07 + ], + "orientation": [ + 1.0, + -3.391752373589306e-10, + 3.000195722477348e-10, + -4.786016272361819e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", + "position": [ + 0.2694321421080608, + 0.2551470803160585, + 0.767927994418805 + ], + "orientation": [ + 0.9978602210303883, + -0.0015521519790315675, + -0.0012639542798458516, + 0.06535267805527105 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_18/model.xml", + "position": [ + -0.2810393124933284, + -0.18250389337332137, + 0.7900191086716132 + ], + "orientation": [ + 0.9971274584455228, + 0.00505154308980758, + -0.0016108835942923244, + -0.07555606249951055 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_11/model.xml", + "position": [ + 0.19309673974966138, + -0.16770632468800642, + 0.7928853875312057 + ], + "orientation": [ + 0.9949862711249322, + -0.03542625096221088, + -0.09165905383430564, + 0.018598894210769962 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml", + "position": [ + -0.20338186280522635, + 0.28008467872780246, + 0.7714398562850165 + ], + "orientation": [ + 0.9754613462030444, + 0.006988719813243728, + -0.21918806636083568, + -0.019568122651755192 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example66/input/input.png b/M&T/select_fruit/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5a6730094830f9f7bbc36c6d7df37fd29002ae42 --- /dev/null +++ b/M&T/select_fruit/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b09443b370a96359bfcd07317e620cc51efb6b6024c5d92d3dfa7e1184f0c84e +size 872465 diff --git a/M&T/select_fruit/example66/input/input_mask.png b/M&T/select_fruit/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9ec74aa77b65284215b30b1e5e4d696954dbc317 --- /dev/null +++ b/M&T/select_fruit/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e04e5844fe8adac1c2021dda76e6fed9e5d1061db5e614dd66efa5389bf72f2 +size 777534 diff --git a/M&T/select_fruit/example66/input/instruction.txt b/M&T/select_fruit/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example66/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example66/output/operation_sequence.json b/M&T/select_fruit/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example66/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example67/env_config/env_config.json b/M&T/select_fruit/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8f6304fbb6f8d5fd73df8be20cdbd410fa0e1855 --- /dev/null +++ b/M&T/select_fruit/example67/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1892801435735127e-10, + 1.2588978242589832e-10, + -7.552596414465718e-07 + ], + "orientation": [ + 1.0, + 2.8519956182180248e-11, + -8.386340766197859e-11, + -5.043838917535151e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", + "position": [ + 0.10997719809387443, + -0.159597543279515, + 0.7660947543141043 + ], + "orientation": [ + 0.9997919455511296, + 0.0005357876746158275, + 0.00014442198866163806, + -0.02039013695251861 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_24/model.xml", + "position": [ + -0.2711145404172805, + 0.2554389493903813, + 0.7755567934124653 + ], + "orientation": [ + 0.9990463116896787, + 0.0017215002474713064, + -0.025408849290111897, + -0.035466800164376824 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_3/model.xml", + "position": [ + 0.26312388464045844, + 0.28451092149652324, + 0.7956857957072588 + ], + "orientation": [ + 0.9991029693627542, + -0.0005449634153334395, + -0.008057322361190476, + -0.041569690662426675 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_13/model.xml", + "position": [ + -0.28074700183150697, + -0.1334825451287284, + 0.7949253622113187 + ], + "orientation": [ + 0.9989905852687535, + 0.00858887080685132, + -0.0002255896882471296, + 0.044090712763002284 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml", + "position": [ + -0.04348044540200842, + 0.10501961827904098, + 0.7849156146492924 + ], + "orientation": [ + 0.9999529963359453, + 0.005427816639894003, + 0.006668764118614128, + -0.004480123929074578 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example67/input/input.png b/M&T/select_fruit/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d438fa01ed976fb5f28b50bbd9dc12cb3400359f --- /dev/null +++ b/M&T/select_fruit/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:237e1638295a59ce511535d07fb235ce3012af4dd38b3f73261b0a6f4ce93d9a +size 852072 diff --git a/M&T/select_fruit/example67/input/input_mask.png b/M&T/select_fruit/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..488d45a31e9b085d437a7def8fd117d3e766ab9e --- /dev/null +++ b/M&T/select_fruit/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06c8289c273cc3151b1f9262d9d31408eebb8016b37d4ba6a909b71952a25e26 +size 757188 diff --git a/M&T/select_fruit/example67/input/instruction.txt b/M&T/select_fruit/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example67/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example67/output/operation_sequence.json b/M&T/select_fruit/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example67/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example68/env_config/env_config.json b/M&T/select_fruit/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..008b2a1bc6a807495727baaf8f19d1d9e4ed90aa --- /dev/null +++ b/M&T/select_fruit/example68/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.223695793669674e-11, + -1.7895511298778703e-10, + -7.552878462126259e-07 + ], + "orientation": [ + 1.0, + 6.877717680808309e-11, + -2.477832529641997e-10, + -3.762998901614089e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.2880597325367573, + -0.1661016829161949, + 0.7674857948740079 + ], + "orientation": [ + 0.9991516984427531, + 1.0520348385181474e-07, + -7.750319379178518e-08, + -0.0411811060917918 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_3/model.xml", + "position": [ + 0.25271794523386576, + 0.26401580265013447, + 0.7738768920175576 + ], + "orientation": [ + 0.9987762017169266, + 0.007632215809020191, + -0.04855040735122428, + 0.005541309573022923 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_7/model.xml", + "position": [ + 0.204461540396695, + -0.18627120376542866, + 0.785896631123092 + ], + "orientation": [ + 0.9983842455227171, + -0.0553779299511554, + -0.012653489998953618, + 0.0014395684094195293 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_8/model.xml", + "position": [ + -0.2007000928245253, + 0.2793818412062194, + 0.7891967147917738 + ], + "orientation": [ + 0.9983797363879156, + 0.017114726091458952, + -0.00804350726423918, + -0.053668334348121176 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_19/model.xml", + "position": [ + -0.0406234231899799, + 0.04424433998896717, + 0.7900579923714504 + ], + "orientation": [ + 0.9992737933728729, + 0.0014734903992262324, + 0.0019378488676740086, + -0.03802577344378144 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example68/input/input.png b/M&T/select_fruit/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..58589a2940aabe12d052ebcc20f8f044ad39bb2d --- /dev/null +++ b/M&T/select_fruit/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c16cfd147202825486062660bcc4cfeedfd19f998cbb2555f6b5a0428ea1ac3 +size 885074 diff --git a/M&T/select_fruit/example68/input/input_mask.png b/M&T/select_fruit/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fc78fd1fa0b6bffc0ea2dbdc376edcf9482be415 --- /dev/null +++ b/M&T/select_fruit/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6da91f3aa8cf5960f2e47544486e3742c73cbf8eda5c8465ea3ea11473e75dce +size 787518 diff --git a/M&T/select_fruit/example68/input/instruction.txt b/M&T/select_fruit/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example68/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example68/output/operation_sequence.json b/M&T/select_fruit/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example68/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example69/env_config/env_config.json b/M&T/select_fruit/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4440aba798b0e6332a8c2d4c3441ecd2308b6648 --- /dev/null +++ b/M&T/select_fruit/example69/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.7089319848020168e-10, + -1.0858621141852456e-10, + -7.553752715346385e-07 + ], + "orientation": [ + 1.0, + -2.194788685915852e-10, + 1.1504839269795733e-10, + -1.3319645134690888e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", + "position": [ + -0.04514676066156993, + 0.21211702399226995, + 0.7679262641126191 + ], + "orientation": [ + 0.9999349330629265, + -0.0016319078238252933, + -0.0011433982195639706, + -0.011232059375102283 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_9/model.xml", + "position": [ + 0.2896661758167372, + -0.17463471423218116, + 0.7882098946683995 + ], + "orientation": [ + 0.9823001405858999, + 0.1345812952302212, + 0.1281815403798263, + 0.023319551559388838 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml", + "position": [ + -0.2610847855304408, + -0.1830354861082054, + 0.7918872871016144 + ], + "orientation": [ + 0.9973109273493125, + -0.002093975535319221, + 0.007429002267557522, + 0.07287893647290236 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_14/model.xml", + "position": [ + 0.26564707784927694, + 0.18852359182990586, + 0.7896494632816494 + ], + "orientation": [ + 0.9994578586173203, + -0.0016389273514862488, + -0.0023974306141473275, + 0.03279565659760084 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example69/input/input.png b/M&T/select_fruit/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e6011d563a192b9bc1f33d9bca785974cbf58b6b --- /dev/null +++ b/M&T/select_fruit/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cba0b879f45589afee395e64092603cf02d624115ffab2429c563aebacf736b +size 833238 diff --git a/M&T/select_fruit/example69/input/input_mask.png b/M&T/select_fruit/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..72b5fd2db009219a0fda627df9a6bd2bb418d06d --- /dev/null +++ b/M&T/select_fruit/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f0cbe023cd75954aa5a4fa8eb311764d67f14e025f9def6f2cc568a8bab17db +size 741744 diff --git a/M&T/select_fruit/example69/input/instruction.txt b/M&T/select_fruit/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example69/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example69/output/operation_sequence.json b/M&T/select_fruit/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example69/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example7/env_config/env_config.json b/M&T/select_fruit/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d285669b995876f38d0722afd22f8fe048462640 --- /dev/null +++ b/M&T/select_fruit/example7/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.7002456820228838e-11, + 1.2439636988952824e-10, + -7.557433178175786e-07 + ], + "orientation": [ + 1.0, + -1.3062983718686082e-10, + -1.377263334015394e-10, + 3.449636574825738e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml", + "position": [ + -0.16175528606412115, + 0.01966450620775292, + 0.7716232405945086 + ], + "orientation": [ + 0.9999077447080202, + 1.8281299555424954e-08, + -1.3934350202039275e-08, + 0.013583154012202918 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_3/model.xml", + "position": [ + 0.2881782543208606, + 0.2779345217011456, + 0.793329180772291 + ], + "orientation": [ + 0.9971687796286568, + 0.009466539377180665, + -0.007940089080154478, + -0.07417388052080755 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_7/model.xml", + "position": [ + 0.25203393758728415, + -0.1609478654817759, + 0.7892262467117276 + ], + "orientation": [ + 0.9971726668672806, + -0.01567022321154039, + 0.013240549067448992, + 0.0722897255333648 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_1/model.xml", + "position": [ + -0.2630063588068055, + 0.25939938277652475, + 0.7911173327605184 + ], + "orientation": [ + 0.9993319164978829, + 0.015477905126373467, + -0.0030934811317816953, + 0.03296339630642933 + ], + "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 orange into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "orange" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example7/input/input.png b/M&T/select_fruit/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..386530b34f726d30255ee40e67659c9d32c4d236 --- /dev/null +++ b/M&T/select_fruit/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d4ae23dd0297da9faf7f1fd92418dc84aa570b77db1514e5a48b5fef53b33ba +size 914850 diff --git a/M&T/select_fruit/example7/input/input_mask.png b/M&T/select_fruit/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..55a9e0d779b4cdae87e0273e798c10afd0ced6a2 --- /dev/null +++ b/M&T/select_fruit/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75ac149d09f85766871e6e21587d076136b4397b3218d76879372229e4baa420 +size 808677 diff --git a/M&T/select_fruit/example7/input/instruction.txt b/M&T/select_fruit/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example7/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example7/output/operation_sequence.json b/M&T/select_fruit/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example7/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example70/env_config/env_config.json b/M&T/select_fruit/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f69f8054a6748ba175a8638b1d6673e5767e19 --- /dev/null +++ b/M&T/select_fruit/example70/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.6398699808351082e-10, + -3.6803157050438024e-10, + -7.721274451138867e-07 + ], + "orientation": [ + 1.0, + -1.2491304601059478e-09, + -2.2158092938385845e-09, + 1.9889490882666798e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", + "position": [ + -0.07763350872115889, + 0.04466440869450077, + 0.759938329366071 + ], + "orientation": [ + 0.998501496618641, + 3.7827841592082355e-05, + -6.167593190737568e-06, + -0.05472439841011681 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_2/model.xml", + "position": [ + 0.276866459827548, + 0.2765726530594084, + 0.7895473143572858 + ], + "orientation": [ + 0.9998821116539155, + -0.0002641458882971236, + -0.0023843991353089777, + 0.015166003501945647 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml", + "position": [ + 0.25836251548244354, + -0.18757235331117242, + 0.7875005090718714 + ], + "orientation": [ + 0.9920107518450243, + 0.03556451801558112, + -0.11285707575912765, + 0.043739155607852645 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_20/model.xml", + "position": [ + -0.2552757307561957, + 0.25527410548569973, + 0.7668039105305221 + ], + "orientation": [ + 0.9977371660203094, + -0.022361733946708727, + 0.04021247673999938, + 0.049025066150833435 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_15/model.xml", + "position": [ + -0.2767158858787472, + -0.17601656546286928, + 0.7901653283787732 + ], + "orientation": [ + 0.9993248106743822, + 0.02375140820427561, + 0.026672658697568685, + 0.0086233785100271 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example70/input/input.png b/M&T/select_fruit/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..26f63d5298e655f897f50411e5c2d35f0f9b8442 --- /dev/null +++ b/M&T/select_fruit/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b6f9f144a81b6ca8d68392970e3dbdbc17aa5519aadf9bb4d788cfae85298f6 +size 802181 diff --git a/M&T/select_fruit/example70/input/input_mask.png b/M&T/select_fruit/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1eb18b0151d00e2c317fba799a77341179931842 --- /dev/null +++ b/M&T/select_fruit/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24f3fd0b32bbec81aa74ee64a41869a59760c68de2b278b46ead18c8d40b3fda +size 709133 diff --git a/M&T/select_fruit/example70/input/instruction.txt b/M&T/select_fruit/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example70/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example70/output/operation_sequence.json b/M&T/select_fruit/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example70/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example71/env_config/env_config.json b/M&T/select_fruit/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e54d1c90ca4e993c837a7db33a821b037baf8918 --- /dev/null +++ b/M&T/select_fruit/example71/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.845814939848208e-10, + 3.0748986018988125e-11, + -7.571759869155659e-07 + ], + "orientation": [ + 1.0, + -1.0468610001242102e-09, + -1.1183256669846059e-09, + 3.5262285133523834e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", + "position": [ + 0.13886066750836978, + -0.0417833075441359, + 0.7660882113740296 + ], + "orientation": [ + 0.997325028708768, + 0.0003289515431626215, + 2.4459521987446845e-05, + 0.07309362697028361 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_14/orange.xml", + "position": [ + -0.2810172354413966, + 0.28292816968691314, + 0.792051746843684 + ], + "orientation": [ + 0.9995821025740343, + 0.0005270201879524505, + 0.0029125286088670815, + 0.028755167196450614 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml", + "position": [ + -0.2714678141663189, + -0.16830295226006192, + 0.7875084646503275 + ], + "orientation": [ + 0.9910764824859936, + 0.03786335631243528, + -0.11134206265753749, + 0.06274326414137019 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_10/model.xml", + "position": [ + 0.24879346087917506, + 0.2561244606893909, + 0.7701472537826751 + ], + "orientation": [ + 0.9929122480159918, + -0.009891810890697635, + -0.08729184645706344, + -0.08004719457451051 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example71/input/input.png b/M&T/select_fruit/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..966fe41da428363d175b6163df4902f5cfa6854a --- /dev/null +++ b/M&T/select_fruit/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e6534f93b35c2aa2c3a70803f39a150f2bf1f6fa34658790bb3afc080216008 +size 845447 diff --git a/M&T/select_fruit/example71/input/input_mask.png b/M&T/select_fruit/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..17b0e5bfdaa9ca5b29711dad4070f9a617bbd282 --- /dev/null +++ b/M&T/select_fruit/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5f8f84e8b8f93fd659d0332ac60049d6d98a926565862f9f05a8512493205d4 +size 752059 diff --git a/M&T/select_fruit/example71/input/instruction.txt b/M&T/select_fruit/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example71/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example71/output/operation_sequence.json b/M&T/select_fruit/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example71/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example72/env_config/env_config.json b/M&T/select_fruit/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b09eef22b3b170446e5da3d623d76fd7bcecce24 --- /dev/null +++ b/M&T/select_fruit/example72/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.733740428152022e-10, + -1.5160439628091168e-10, + -7.552598103080039e-07 + ], + "orientation": [ + 1.0, + -2.5267825759676885e-10, + 4.534129707373928e-11, + 1.4221744826646689e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_14/model.xml", + "position": [ + -0.031579785860942386, + 0.1663239027842028, + 0.7693774372503729 + ], + "orientation": [ + 0.9989952050682284, + -0.005589675389700509, + 0.0003618807011926466, + 0.044465771353755124 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_4/model.xml", + "position": [ + 0.28984968630134145, + -0.1589796257330361, + 0.7900579924886507 + ], + "orientation": [ + 0.9994105146719835, + 0.0014661549945324066, + 0.0019434057609195024, + -0.03424465982692455 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_24/model.xml", + "position": [ + -0.2706034594926149, + -0.17984727872194686, + 0.7755485865367362 + ], + "orientation": [ + 0.9974050994808065, + 0.0043341937526809576, + -0.025361544209462763, + 0.06723893492246237 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml", + "position": [ + 0.2544586664429091, + 0.29178253324161324, + 0.7895034549182992 + ], + "orientation": [ + 0.9994151648731759, + -0.0004406378482323461, + -0.00782967127378462, + 0.03328408489885023 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example72/input/input.png b/M&T/select_fruit/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b45ed7f79e2feededdd69cc3660ca456d0329493 --- /dev/null +++ b/M&T/select_fruit/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308314e260b0b2894478d597b9c88231137469000d17d82873ddef74f8b27134 +size 889417 diff --git a/M&T/select_fruit/example72/input/input_mask.png b/M&T/select_fruit/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..754025984a450d3a23285e6d95034298eaf6be46 --- /dev/null +++ b/M&T/select_fruit/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ee11656f3fa540134e2fefa10a8b3b2be643924487c25f42ff6f86fbdd43b84 +size 786072 diff --git a/M&T/select_fruit/example72/input/instruction.txt b/M&T/select_fruit/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example72/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example72/output/operation_sequence.json b/M&T/select_fruit/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example72/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example73/env_config/env_config.json b/M&T/select_fruit/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2f9279283a856632471dfbf0862b9893948e0b65 --- /dev/null +++ b/M&T/select_fruit/example73/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.797385618594121e-10, + 3.667694545783362e-10, + -7.559879371721865e-07 + ], + "orientation": [ + 1.0, + 1.0098045557108771e-10, + 1.5765154845939293e-10, + -2.133428641495112e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml", + "position": [ + 0.20829643895445266, + -0.11629161997764147, + 0.7716232408627232 + ], + "orientation": [ + 0.999711121620811, + 1.2336610323404152e-08, + -4.865719094770454e-09, + 0.024034835295037884 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_7/model.xml", + "position": [ + -0.25980435509458705, + 0.26609623864300247, + 0.7756981033532461 + ], + "orientation": [ + 0.9941158301395744, + -0.001581416786240751, + -0.10244556918531852, + 0.035158508801574506 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_9/model.xml", + "position": [ + -0.2747751852940489, + -0.1765165635072554, + 0.7965904701458378 + ], + "orientation": [ + 0.9889721617255319, + 0.13661051202522512, + 0.007344020163954151, + 0.05672474507626192 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_17/model.xml", + "position": [ + 0.16584738290364648, + 0.2789421392206943, + 0.7883597435998552 + ], + "orientation": [ + 0.9992830658612003, + -0.01625962884143234, + -0.002953906546393793, + -0.0340624894729464 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_19/model.xml", + "position": [ + -0.022142630363630914, + 0.009934098696946106, + 0.781150316195045 + ], + "orientation": [ + 0.9991791983593511, + -0.03565029380587387, + 0.015062177505661058, + 0.01196314867858069 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example73/input/input.png b/M&T/select_fruit/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d93ec97d96c1a450ea1ac739cdd4128be95a448b --- /dev/null +++ b/M&T/select_fruit/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:780adfe9b8f7558e4bdedd033620abdb49b0bdcfcb8d25a8c2469184bbf2e8d4 +size 869717 diff --git a/M&T/select_fruit/example73/input/input_mask.png b/M&T/select_fruit/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..197e1f6bfe6b15441700742c1562879ff6d2abef --- /dev/null +++ b/M&T/select_fruit/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca04963af50723873366e0bf71388df826a06a9fecee6847b5d18213fdb95356 +size 761625 diff --git a/M&T/select_fruit/example73/input/instruction.txt b/M&T/select_fruit/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example73/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example73/output/operation_sequence.json b/M&T/select_fruit/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example73/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example74/env_config/env_config.json b/M&T/select_fruit/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9d25c68cf01db15d93535b9f6bbd8382c7217cee --- /dev/null +++ b/M&T/select_fruit/example74/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0482934717250378e-10, + -2.1999526775467674e-11, + -7.559054620873253e-07 + ], + "orientation": [ + 1.0, + -2.2138866355658112e-10, + -2.1602550893124983e-10, + -3.201198780809779e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", + "position": [ + -0.09606674432436377, + 0.07056783414861226, + 0.7734319930033112 + ], + "orientation": [ + 0.9998997198462231, + 3.209022066690204e-05, + 0.0004254538996310333, + -0.014155147849552416 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_21/model.xml", + "position": [ + 0.2621572914674887, + -0.19387680551318848, + 0.7894619205265526 + ], + "orientation": [ + 0.999995878646867, + 0.00010604386825025112, + 0.0013036716263920202, + -0.002555755126815011 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_6/model.xml", + "position": [ + 0.2559063608578615, + 0.27377430090850186, + 0.7914082665855362 + ], + "orientation": [ + 0.9995566742694348, + 0.012123648273046104, + -0.01715588246439948, + -0.021098525371407335 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml", + "position": [ + -0.28468716080135875, + -0.17968797681640153, + 0.7849156228438144 + ], + "orientation": [ + 0.9998745488673597, + 0.0053086666089298285, + 0.006764764216637963, + 0.013301975463142034 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_10/model.xml", + "position": [ + -0.2683631830932338, + 0.2816066579205413, + 0.7919155824019126 + ], + "orientation": [ + 0.9979788680989563, + -0.012356432638880603, + 8.973728058714789e-05, + -0.062333693517927696 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example74/input/input.png b/M&T/select_fruit/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c6166e0dd023cce280c52d526f9be5576792b2f8 --- /dev/null +++ b/M&T/select_fruit/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4df57c87aad505a71665ef04d9b14a84e20f5c44e26a1d7791299cbb50af0375 +size 828425 diff --git a/M&T/select_fruit/example74/input/input_mask.png b/M&T/select_fruit/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e35fb590d9d506100218ff27eee876454e6b1a03 --- /dev/null +++ b/M&T/select_fruit/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23baadef264070190825c7874492b300ae575ea7f593a86eca0454849049efb1 +size 731183 diff --git a/M&T/select_fruit/example74/input/instruction.txt b/M&T/select_fruit/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example74/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example74/output/operation_sequence.json b/M&T/select_fruit/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example74/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example75/env_config/env_config.json b/M&T/select_fruit/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3bce286b61e23d492b9da2fb3d2e76c14ffcf7 --- /dev/null +++ b/M&T/select_fruit/example75/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.041046016022214e-10, + -4.3658515572992414e-10, + -7.554401752273186e-07 + ], + "orientation": [ + 1.0, + -2.6421951712979885e-10, + -2.1676935890906883e-10, + 1.0714480463601526e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", + "position": [ + -0.2518475300316595, + 0.23859839899500213, + 0.7679280051330601 + ], + "orientation": [ + 0.9983922070924208, + -0.0016945866259123743, + -0.0010655121171868692, + -0.056647982110736794 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_3/model.xml", + "position": [ + 0.2507838233992273, + -0.16720374737037305, + 0.7739110644589583 + ], + "orientation": [ + 0.9988684161185591, + 0.007248090107725804, + -0.046999891440458456, + 0.0006022251865095555 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_15/model.xml", + "position": [ + 0.200893549311293, + 0.28760371455224865, + 0.7862962765160724 + ], + "orientation": [ + 0.9773950487086847, + -0.05260066216300502, + 0.17985563846333621, + 0.09789810219155755 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml", + "position": [ + -0.13043893207780524, + -0.17423105969906583, + 0.7934743273095971 + ], + "orientation": [ + 0.9999409302550124, + 0.00994563467408177, + 0.0007671583047530725, + 0.0043164591746916135 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example75/input/input.png b/M&T/select_fruit/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bf4026a3bed90519d610c5d7b1121bc6b5ceaed7 --- /dev/null +++ b/M&T/select_fruit/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90bcbb9ae9f5e6881e147eb114cc9ec58128ca8fb7b26cee40a246dcda516da0 +size 885462 diff --git a/M&T/select_fruit/example75/input/input_mask.png b/M&T/select_fruit/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..11c2e5aeaf6b66ffbacb762759e0496c22827c2a --- /dev/null +++ b/M&T/select_fruit/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16f432f63b5f13d1eda0f158c67d74a5b707718b13933f8bb91d48a02df7da06 +size 790052 diff --git a/M&T/select_fruit/example75/input/instruction.txt b/M&T/select_fruit/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example75/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example75/output/operation_sequence.json b/M&T/select_fruit/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example75/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example76/env_config/env_config.json b/M&T/select_fruit/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..884a615ee85ebb21dcc31cef86a57b14926ab4e1 --- /dev/null +++ b/M&T/select_fruit/example76/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.626827673285384e-11, + 4.6328796248768347e-10, + -7.55355534943516e-07 + ], + "orientation": [ + 1.0, + 4.7765128607857356e-11, + -1.6166889267544286e-10, + 1.3971061249488967e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.27122534329884085, + -0.17208855914017845, + 0.7674857950534555 + ], + "orientation": [ + 0.9974878771952239, + 1.1575990090015661e-07, + -6.702792190633672e-08, + 0.07083738312887465 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_12/model.xml", + "position": [ + 0.26838642329927415, + 0.25031352366553805, + 0.7930554097493003 + ], + "orientation": [ + 0.9945339765862505, + 0.10414631096563172, + 0.0074630627432916525, + -0.00013424708110620995 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_14/model.xml", + "position": [ + 0.19983380770238987, + -0.1903577701188491, + 0.7973445107108961 + ], + "orientation": [ + 0.9993823240777588, + 0.03466638221057185, + -0.00546006864121877, + -0.0018438860599770087 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml", + "position": [ + -0.21349149878274218, + 0.2775689195273817, + 0.7930049165106705 + ], + "orientation": [ + 0.9991408236936891, + -0.021111202269488878, + 0.0217347168581437, + 0.02827602607385768 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example76/input/input.png b/M&T/select_fruit/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..42004b18155d47dc469c39c57008af46a4593ac3 --- /dev/null +++ b/M&T/select_fruit/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f51e8025f1474b587b437eab76092c73c569a6bb5083a71d468f6ea05c564815 +size 852024 diff --git a/M&T/select_fruit/example76/input/input_mask.png b/M&T/select_fruit/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..47622123818d766f4bf873896500dbd2f0fdba4c --- /dev/null +++ b/M&T/select_fruit/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:030201d5c159af16aa1a1e8fa13f00fc9c36f39f9ca4b6f034777ab982cf2f81 +size 760016 diff --git a/M&T/select_fruit/example76/input/instruction.txt b/M&T/select_fruit/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example76/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example76/output/operation_sequence.json b/M&T/select_fruit/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example76/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example77/env_config/env_config.json b/M&T/select_fruit/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0de640b470bdc183dfeb7d61451c8fe443bdb02c --- /dev/null +++ b/M&T/select_fruit/example77/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.710282039522925e-10, + -7.277389272902691e-10, + -7.585876273599541e-07 + ], + "orientation": [ + 1.0, + -5.967714475585477e-10, + 3.9858354424731885e-10, + 2.4735482933799633e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml", + "position": [ + 0.07788789135548874, + 0.11361888567963119, + 0.7633901409694369 + ], + "orientation": [ + 0.998998842941333, + 9.185263672095805e-08, + -1.7591439534935704e-06, + -0.044736023502035434 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml", + "position": [ + -0.28043844985039956, + -0.17264203806456943, + 0.771517506482704 + ], + "orientation": [ + 0.9754887347777478, + 0.001382727942246354, + -0.21362380793384286, + -0.05277011530203455 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_4/model.xml", + "position": [ + -0.2858614260998902, + 0.2746468733621436, + 0.7911765378893407 + ], + "orientation": [ + 0.9816039974832746, + -0.17975487127913614, + 0.026225836848552737, + 0.05877060368815129 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_5/model.xml", + "position": [ + 0.28521775501244645, + -0.1610907106482784, + 0.7901246719067473 + ], + "orientation": [ + 0.9974444805337982, + -0.004523145310219941, + -0.05014209192599579, + -0.05069339233519372 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_11/model.xml", + "position": [ + -0.054512593189119954, + -0.12643168963518742, + 0.7928932147389655 + ], + "orientation": [ + 0.9943400009981657, + -0.03385550785528169, + -0.09238274860325459, + 0.04008983366559735 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example77/input/input.png b/M&T/select_fruit/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..435f3d1ec53526aafbc0410b05adfc0bec2e1846 --- /dev/null +++ b/M&T/select_fruit/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23cc6eba65f4918b9941ec9575471cc7d0c4fb26cff624581fdd7e4f14010581 +size 870814 diff --git a/M&T/select_fruit/example77/input/input_mask.png b/M&T/select_fruit/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..76352099d378971338bfa79cafb8d8642cbdda2d --- /dev/null +++ b/M&T/select_fruit/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f86e3a71470ddffbbf440f3ff37383b6530c25e8b203a2a3bc6f42c9b998be7 +size 760495 diff --git a/M&T/select_fruit/example77/input/instruction.txt b/M&T/select_fruit/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example77/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example77/output/operation_sequence.json b/M&T/select_fruit/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example77/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example78/env_config/env_config.json b/M&T/select_fruit/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e21ff6d7fd333f910210e5c63dcdaca3f91ab9 --- /dev/null +++ b/M&T/select_fruit/example78/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.109629771557196e-10, + 5.184374838626127e-11, + -7.557134754727619e-07 + ], + "orientation": [ + 1.0, + -1.350506746276866e-10, + 2.6858558269526226e-10, + -4.452911350640151e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml", + "position": [ + 0.27089007495637046, + -0.011390612222302247, + 0.7716233165377804 + ], + "orientation": [ + 0.9975885045404758, + 6.017361893404333e-07, + -6.253953273783171e-07, + -0.06940587588918247 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_15/model.xml", + "position": [ + -0.28345912556533587, + 0.27893416603547133, + 0.7718936988367717 + ], + "orientation": [ + 0.9885878496411495, + -0.01268844500116028, + -0.1381481344456964, + 0.05872103417442452 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_8/model.xml", + "position": [ + -0.22126960227667863, + -0.1881997418477411, + 0.7914692550484292 + ], + "orientation": [ + 0.9977251439459132, + -0.0557976418248979, + 0.03629924694433197, + 0.01065481000126477 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_12/model.xml", + "position": [ + 0.08709688700834989, + 0.2831440926869188, + 0.7930554094743482 + ], + "orientation": [ + 0.991590328311827, + 0.1032622587420827, + 0.015461956220674205, + 0.07646211236786271 + ], + "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 banana into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "banana" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example78/input/input.png b/M&T/select_fruit/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3e268f132d081ec2495b24310a2632598654face --- /dev/null +++ b/M&T/select_fruit/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6fcf3441ce40035c0796dd23ee7c987dc91a9703d2284af9ee25a7c9f2d5c91 +size 881277 diff --git a/M&T/select_fruit/example78/input/input_mask.png b/M&T/select_fruit/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7ce1b772a1e9f8a308d08d5ccd76201e845af7f9 --- /dev/null +++ b/M&T/select_fruit/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c60b62aceda47cc4306e593ed402d65639706c6161f502b30cf06e7aead26199 +size 780917 diff --git a/M&T/select_fruit/example78/input/instruction.txt b/M&T/select_fruit/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example78/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example78/output/operation_sequence.json b/M&T/select_fruit/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example78/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example79/env_config/env_config.json b/M&T/select_fruit/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..85a180186b0bae0676509884fabf596239b56263 --- /dev/null +++ b/M&T/select_fruit/example79/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.46065848128652e-10, + 1.7851657605404375e-10, + -7.555526767291514e-07 + ], + "orientation": [ + 1.0, + -3.5243126638378847e-10, + -9.492287023319994e-11, + 2.0508868788267275e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_14/model.xml", + "position": [ + 0.07671256202015905, + 0.13115595174598893, + 0.7692509668743591 + ], + "orientation": [ + 0.9987645758699655, + -0.002439690898197037, + 0.000928724443335584, + 0.04962365732709679 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_13/model.xml", + "position": [ + -0.28038161783648763, + -0.1637947549853798, + 0.77143678273072 + ], + "orientation": [ + 0.971901059607942, + 0.03037293260990311, + -0.21740914684692098, + 0.08496515853530075 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_14/model.xml", + "position": [ + -0.2618887439300709, + 0.25883303138247105, + 0.7973442271861427 + ], + "orientation": [ + 0.9992437079358835, + 0.034571825821335174, + -0.006120923543641157, + -0.01671332716423562 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_17/model.xml", + "position": [ + 0.272742324484904, + -0.16927460954965476, + 0.7883597563513974 + ], + "orientation": [ + 0.9991975435709969, + -0.01626739704469901, + -0.002914257267136032, + -0.03648489851509359 + ], + "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 banana into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "banana" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example79/input/input.png b/M&T/select_fruit/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a406d2f12d7638f73599e6c1f4b4cfc04ee2d5df --- /dev/null +++ b/M&T/select_fruit/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b368b4f7078e7246b7db32d8d00ce925d71c9d37dcb8a79bd1bc99fa8742000e +size 910760 diff --git a/M&T/select_fruit/example79/input/input_mask.png b/M&T/select_fruit/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7a346fd280cb3adf07d44902889f894948711f94 --- /dev/null +++ b/M&T/select_fruit/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7470d7cced1cfb18ae7a3f0a383d1330260cf1913cc622136a71e60dd3471cb2 +size 804794 diff --git a/M&T/select_fruit/example79/input/instruction.txt b/M&T/select_fruit/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example79/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example79/output/operation_sequence.json b/M&T/select_fruit/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example79/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example8/env_config/env_config.json b/M&T/select_fruit/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94ba5d4c156a6e8c33846e85e95886c72452f3e4 --- /dev/null +++ b/M&T/select_fruit/example8/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.627228687783469e-11, + -5.924083162765685e-12, + -7.560726123043719e-07 + ], + "orientation": [ + 1.0, + -2.746029117699335e-10, + 1.0879458846555946e-10, + -7.165944403716668e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", + "position": [ + 0.20665189944067475, + 0.021306053924184463, + 0.7734474509675598 + ], + "orientation": [ + 0.9987901283896582, + 5.194423662097635e-06, + 0.0008221063116261864, + 0.0491691320403413 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_3/model.xml", + "position": [ + -0.2695027245219152, + 0.2571165589849565, + 0.7933291815281829 + ], + "orientation": [ + 0.9971213979834267, + 0.010541251411511902, + -0.006445609065002849, + 0.07480811337038158 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_14/model.xml", + "position": [ + -0.2254923547979799, + -0.16354073085430934, + 0.7973433494481891 + ], + "orientation": [ + 0.9993691595134189, + 0.03464215526918233, + -0.005659179943486189, + -0.005401645500781694 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_16/model.xml", + "position": [ + 0.011742129674299981, + 0.28608893458554074, + 0.7843225577246936 + ], + "orientation": [ + 0.9666135721322597, + -0.24432768585046222, + -0.03578105814005805, + 0.06842441066642152 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", + "position": [ + -0.043216794511540486, + 0.028380980314662137, + 0.7904611297683455 + ], + "orientation": [ + 0.9989988149933793, + 0.002781319442038673, + 0.03600591603860512, + 0.026404657055279203 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example8/input/input.png b/M&T/select_fruit/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..86bd78fd1d449904929cc96d90c8834dfe6162b6 --- /dev/null +++ b/M&T/select_fruit/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd1138eccb7b54894f91cfad891cc5a173458b8569c88ae59c671d3afa586489 +size 844514 diff --git a/M&T/select_fruit/example8/input/input_mask.png b/M&T/select_fruit/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a34ae85e85f8efcf8f6e872b30a129c975291c3 --- /dev/null +++ b/M&T/select_fruit/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bcf819a71a29e449a808ed6546b7cf6df4b1e8c1803b224de1987451519f183 +size 745791 diff --git a/M&T/select_fruit/example8/input/instruction.txt b/M&T/select_fruit/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example8/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example8/output/operation_sequence.json b/M&T/select_fruit/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example8/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example80/env_config/env_config.json b/M&T/select_fruit/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8c98041486e0d363a11719d5147a31d5c67c2452 --- /dev/null +++ b/M&T/select_fruit/example80/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.4742947952509238e-10, + 1.5691731677711798e-10, + -7.562682579220408e-07 + ], + "orientation": [ + 1.0, + 7.988024010385649e-11, + 2.077294165793428e-10, + -2.3217072822430688e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", + "position": [ + 0.07936728217714364, + -0.06663438842633046, + 0.7763124008100948 + ], + "orientation": [ + 0.9999530963632226, + 0.0023165830030354453, + 0.0023462807635303835, + 0.009106782273243795 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml", + "position": [ + -0.2685701002365055, + 0.27713505440079034, + 0.7934743341646221 + ], + "orientation": [ + 0.9988100591878875, + 0.009973644776741853, + 0.0002536704967326094, + -0.04773811607338846 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml", + "position": [ + 0.26261877527032623, + 0.26627998251692975, + 0.791885580599228 + ], + "orientation": [ + 0.9997153893887913, + -0.0014640584953981607, + 0.007531638962723502, + -0.022589182510104566 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_1/model.xml", + "position": [ + -0.27907940350639543, + -0.18707295544444963, + 0.7812971216495664 + ], + "orientation": [ + 0.9994077296163583, + -0.00031034933902688954, + 6.185385613726375e-05, + -0.03441060651112912 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example80/input/input.png b/M&T/select_fruit/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a2263dc32410585c5d2a1115c662e04e69982819 --- /dev/null +++ b/M&T/select_fruit/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:481801307cbd04c596ae37cb205d99f7bef9200b5007028de311cd8fc5e041ef +size 931594 diff --git a/M&T/select_fruit/example80/input/input_mask.png b/M&T/select_fruit/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ce20f26b98377b48d52c45aa20a09e3128cb4b64 --- /dev/null +++ b/M&T/select_fruit/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5f233c06c2d1d1c859b7fe0747f520bac3d789efd2da6d27d01668a86aec08b +size 817940 diff --git a/M&T/select_fruit/example80/input/instruction.txt b/M&T/select_fruit/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example80/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example80/output/operation_sequence.json b/M&T/select_fruit/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example80/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example81/env_config/env_config.json b/M&T/select_fruit/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..58893ec84cb0c03044ed89a6347318761920575c --- /dev/null +++ b/M&T/select_fruit/example81/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.183779658885511e-10, + -3.844211524177952e-10, + -7.575365685634276e-07 + ], + "orientation": [ + 1.0, + 4.530032154576287e-10, + -9.762502203129962e-10, + -3.922897362181475e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + 0.09385541926007292, + 0.1380083718242102, + 0.7674857917044334 + ], + "orientation": [ + 0.9976707575612267, + 6.539832073390191e-08, + -2.1319813840365847e-08, + -0.06821333819132329 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_14/orange.xml", + "position": [ + -0.26857252504454526, + -0.1565266376471503, + 0.7920531635827956 + ], + "orientation": [ + 0.9987077093050124, + 0.0009513263445914274, + 0.002858756095563839, + -0.050732966269542365 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_5/model.xml", + "position": [ + -0.2696645358759827, + 0.2820293992588041, + 0.788413637324481 + ], + "orientation": [ + 0.9875951653540138, + 0.14614257811352466, + 0.05736462181691131, + -0.0027269755248075355 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_18/model.xml", + "position": [ + 0.2660157539802067, + -0.1524242526568993, + 0.7927671346386888 + ], + "orientation": [ + 0.972643888747283, + -0.18966609976845716, + 0.13412798115185268, + -0.0005665274146257036 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example81/input/input.png b/M&T/select_fruit/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..89ab968caa9c7b62c602f5a8fd15832c086a3f09 --- /dev/null +++ b/M&T/select_fruit/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39664cce010c1f5dd7000a071af5e0767251cab0cae5c5eb486e2bca5ac63c93 +size 846762 diff --git a/M&T/select_fruit/example81/input/input_mask.png b/M&T/select_fruit/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5997ce59663421cd5f3b0a2f9d092dee5c8aa9a9 --- /dev/null +++ b/M&T/select_fruit/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b7f6bf4db1d5bf7c9ecf6e2f88408cebc2cf76b6c1ad3f51f74fbd037fb2028 +size 753095 diff --git a/M&T/select_fruit/example81/input/instruction.txt b/M&T/select_fruit/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example81/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example81/output/operation_sequence.json b/M&T/select_fruit/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example81/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example82/env_config/env_config.json b/M&T/select_fruit/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7eba740e2c6ac2895c6b0cdd4821b454d6db3afc --- /dev/null +++ b/M&T/select_fruit/example82/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.322713107523677e-10, + -6.67563683322818e-10, + -7.557029885202323e-07 + ], + "orientation": [ + 1.0, + 1.750983947344311e-11, + -3.272081743873583e-12, + -2.3472479543536342e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_11/model.xml", + "position": [ + 0.19215619240130627, + 0.1552960557777636, + 0.7679280014869441 + ], + "orientation": [ + 0.9975756627982281, + -0.0017082082359574351, + -0.0010435045130760844, + -0.06956141254767823 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_19/model.xml", + "position": [ + -0.26571816279791033, + -0.1934650788464222, + 0.7900579921787155 + ], + "orientation": [ + 0.9997986562894091, + 0.001438222549288568, + 0.0019641769715431348, + -0.019917841414548984 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_13/model.xml", + "position": [ + -0.25477816110395424, + 0.2845962349211679, + 0.7863023858613033 + ], + "orientation": [ + 0.9942938373056941, + -0.07223398056937123, + 0.0715376208775455, + -0.03231696065848025 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_15/model.xml", + "position": [ + 0.09851784119362716, + -0.1511332196737312, + 0.7862964065482464 + ], + "orientation": [ + 0.9793001767420888, + -0.04866313153510019, + 0.18095342533067257, + 0.07654359100021572 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_18/model.xml", + "position": [ + -0.0730773860415176, + 0.038117071189501285, + 0.7724484466689318 + ], + "orientation": [ + 0.9975384776726859, + -0.0016976889602363977, + -0.060149333731857296, + -0.0360022369620103 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example82/input/input.png b/M&T/select_fruit/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b292935b031aab00cbf74926b6e41ff6cc8fee67 --- /dev/null +++ b/M&T/select_fruit/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6551d4f308378a6e15cbdf8e66d6280cba15a46d6ea6d54e0082dcc0965c90f +size 845950 diff --git a/M&T/select_fruit/example82/input/input_mask.png b/M&T/select_fruit/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d13b506d9b3e73d094c55bc2856839cf5aa1e3a7 --- /dev/null +++ b/M&T/select_fruit/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4958bba614b45809d257fdf8859a3d588931206797c87fe57c22cdddef1de06 +size 743226 diff --git a/M&T/select_fruit/example82/input/instruction.txt b/M&T/select_fruit/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example82/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example82/output/operation_sequence.json b/M&T/select_fruit/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example82/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example83/env_config/env_config.json b/M&T/select_fruit/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6da35a05fc9d7a220700100d94bbf8d534d6bb --- /dev/null +++ b/M&T/select_fruit/example83/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.3340167092691486e-10, + 4.218114405216089e-10, + -7.554447563639705e-07 + ], + "orientation": [ + 1.0, + -1.6384201066817177e-10, + -2.4651606733686013e-10, + -1.2964894425084915e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml", + "position": [ + -0.20898076028926477, + 0.1070753091930802, + 0.7716232413974541 + ], + "orientation": [ + 0.999838116388623, + 1.660569820702131e-08, + -9.596640494982092e-09, + -0.017992804574314868 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_18/model.xml", + "position": [ + 0.2484662380704296, + -0.19125126994740133, + 0.772471185389326 + ], + "orientation": [ + 0.9947299819059144, + -0.004483349310729341, + -0.05912268737569657, + -0.08364610280158453 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml", + "position": [ + 0.26268025817626833, + 0.29397477750074275, + 0.7849157572311137 + ], + "orientation": [ + 0.9991108075764393, + 0.005118980937789133, + 0.006923764810767525, + 0.041272893028687016 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_0/model.xml", + "position": [ + -0.10762847967894125, + -0.18223518463529637, + 0.7896002867862112 + ], + "orientation": [ + 0.990266930790256, + 0.13834981820497486, + 0.0019343488869973172, + 0.015066249708555246 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example83/input/input.png b/M&T/select_fruit/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eff09143ae9feb9a99a237c99197266f26693871 --- /dev/null +++ b/M&T/select_fruit/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81c088567539c52172625f88ffc05fd367130d87b6c96a5a2d129162463be426 +size 906865 diff --git a/M&T/select_fruit/example83/input/input_mask.png b/M&T/select_fruit/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..491a494238e18ae06263a919504feb01dc4f0406 --- /dev/null +++ b/M&T/select_fruit/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f114cf73176eaedb3d4fd09ad15947576b24c49efb15a6371cfde2f1344bb720 +size 805347 diff --git a/M&T/select_fruit/example83/input/instruction.txt b/M&T/select_fruit/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example83/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example83/output/operation_sequence.json b/M&T/select_fruit/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example83/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example84/env_config/env_config.json b/M&T/select_fruit/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fbf951049e17fef18dcb5c827ec8df63880693a6 --- /dev/null +++ b/M&T/select_fruit/example84/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.354441263678299e-11, + -1.9577959040845173e-10, + -7.55654965821582e-07 + ], + "orientation": [ + 1.0, + -2.49132198132242e-10, + 5.5689586440055896e-11, + -1.1011375150256208e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", + "position": [ + -0.04672443001060094, + 0.16295004789934978, + 0.7734369735898474 + ], + "orientation": [ + 0.9992928257033985, + 0.000397467641762716, + 0.0005882338561638764, + 0.037594474303024795 + ], + "class": "Plate" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_13/model.xml", + "position": [ + 0.2692120279089871, + -0.16956092417565308, + 0.7863023844456241 + ], + "orientation": [ + 0.9934212845438795, + -0.07807944768188949, + 0.06510746139854898, + 0.052714037363093574 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml", + "position": [ + -0.25307571326505157, + -0.1766994826683239, + 0.7918852692339919 + ], + "orientation": [ + 0.9999688059342244, + -0.0015404956173183655, + 0.00739569741117787, + 0.002306012041534118 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_6/model.xml", + "position": [ + 0.27130431568518215, + 0.27943002623917934, + 0.7768055923901969 + ], + "orientation": [ + 0.9982731935734082, + -0.01998771752786602, + -0.0059505460092312765, + 0.05491550912963511 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example84/input/input.png b/M&T/select_fruit/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..db528b9cc0826dc810bd649c7a656af067ded934 --- /dev/null +++ b/M&T/select_fruit/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a6331d16cf6da08e2e7d9d353a62c975991c94ecddec035e7f6f98c08dd8f40 +size 835852 diff --git a/M&T/select_fruit/example84/input/input_mask.png b/M&T/select_fruit/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..708741d03a07e2acc8f290fe4f94428ba09a5855 --- /dev/null +++ b/M&T/select_fruit/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83015b45cc76cb33209a4a4497d1daaad9128771f0bec5418bc88ec4e8274d87 +size 739379 diff --git a/M&T/select_fruit/example84/input/instruction.txt b/M&T/select_fruit/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example84/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example84/output/operation_sequence.json b/M&T/select_fruit/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example84/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example85/env_config/env_config.json b/M&T/select_fruit/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..91d1988283946d734197243704a3fa0c93862c75 --- /dev/null +++ b/M&T/select_fruit/example85/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9123332649249513e-10, + -3.055259142697265e-10, + -7.550500139971252e-07 + ], + "orientation": [ + 1.0, + -1.2041999488327576e-10, + -5.6390900913848194e-12, + -1.5805034624729267e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.08614032661056814, + 0.1553213400776511, + 0.7674857942369997 + ], + "orientation": [ + 0.9981525359678223, + 5.485347332767827e-08, + -1.9785637091267905e-08, + -0.0607578385148854 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_15/model.xml", + "position": [ + 0.27937250675277564, + -0.16239298317926484, + 0.790812508944372 + ], + "orientation": [ + 0.9971911656379578, + -0.024458074521041637, + -0.032234376522156716, + -0.06302798374183777 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_12/model.xml", + "position": [ + -0.264314318389953, + -0.18637351178740863, + 0.7930554105336769 + ], + "orientation": [ + 0.9919542612400558, + 0.10333700372745303, + 0.014954134157930858, + 0.07158617981087324 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_4/model.xml", + "position": [ + 0.2833688064810266, + 0.26858348347350514, + 0.7911765416586726 + ], + "orientation": [ + 0.9822473248696978, + -0.17590724890126822, + 0.045345894007434356, + -0.04680365869219003 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example85/input/input.png b/M&T/select_fruit/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5ada3605abf8110ee19ce7229ef487597aa1f81e --- /dev/null +++ b/M&T/select_fruit/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:762031d2d2eaa290f8a1ba0b027bb72b63691e87dc46ce44c8ff987e9cbeb306 +size 829333 diff --git a/M&T/select_fruit/example85/input/input_mask.png b/M&T/select_fruit/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9a31ce89acd07f46c4ed62af9c43008b6838633c --- /dev/null +++ b/M&T/select_fruit/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b512fa2474913d0e9f27f7fdf28ebeb0b83e1c6163608fc53aa7a446efc096ad +size 738003 diff --git a/M&T/select_fruit/example85/input/instruction.txt b/M&T/select_fruit/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example85/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example85/output/operation_sequence.json b/M&T/select_fruit/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example85/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example86/env_config/env_config.json b/M&T/select_fruit/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d5070fe73b40b16d4d48c87d20eeb5b97989b3dc --- /dev/null +++ b/M&T/select_fruit/example86/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.8273786750142002e-11, + -1.1335933674180953e-10, + -7.556606185335366e-07 + ], + "orientation": [ + 1.0, + -4.0825425440863865e-10, + -1.3364209290970316e-10, + -4.03694066573231e-12 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", + "position": [ + -0.13246634318106576, + 0.22805188064090934, + 0.773445553024661 + ], + "orientation": [ + 0.9998424243995687, + 6.65103766750669e-05, + 0.0008183875760451064, + 0.01773279980542049 + ], + "class": "Plate" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_19/model.xml", + "position": [ + 0.2698498390658223, + -0.17081855485935418, + 0.7811500089944085 + ], + "orientation": [ + 0.9992483663453703, + -0.035443489193212975, + 0.01553149520625939, + -0.0022878126184907323 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_8/model.xml", + "position": [ + 0.26336827575596544, + 0.27142757309240295, + 0.7975624718065218 + ], + "orientation": [ + 0.9991738313784633, + 0.00016760114927117243, + 0.002893129665821717, + -0.04053709904611167 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_3/model.xml", + "position": [ + -0.2692756005874244, + -0.15695591927498226, + 0.7739151253271895 + ], + "orientation": [ + 0.9972937738351709, + 0.004556022606984947, + -0.04714628216913466, + -0.056228101561728625 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example86/input/input.png b/M&T/select_fruit/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9c8b5f007f36a4b71509d006ebeb535b13a2db75 --- /dev/null +++ b/M&T/select_fruit/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f0d180ae6f07f7bff5ae42bcf77120bfc7ac107d13b686c5cda797a085d2eee +size 857611 diff --git a/M&T/select_fruit/example86/input/input_mask.png b/M&T/select_fruit/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fe9b9e45b5e2f96fcb17aca87b252b6db3197110 --- /dev/null +++ b/M&T/select_fruit/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f498b6d6d1721e9619b068f174fbca824d3bf926d14c1fa13c45fd8dfb60a63a +size 762164 diff --git a/M&T/select_fruit/example86/input/instruction.txt b/M&T/select_fruit/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example86/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example86/output/operation_sequence.json b/M&T/select_fruit/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example86/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example87/env_config/env_config.json b/M&T/select_fruit/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3b214c8fabc03b8e1af87e6612df8e7ffe2fc94d --- /dev/null +++ b/M&T/select_fruit/example87/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.78545558931642e-10, + -8.140588505437058e-10, + -7.58679073488538e-07 + ], + "orientation": [ + 1.0, + 4.214162984025216e-10, + -1.101342998530936e-09, + -3.488216268396243e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_10/model.xml", + "position": [ + 0.017686050117712113, + 0.2550350528813569, + 0.7716232383529431 + ], + "orientation": [ + 0.9999961050199985, + 1.1676538357519218e-08, + -5.6488210011619016e-09, + 0.0027910472643957935 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_raw/apple.xml", + "position": [ + -0.2552924295206652, + -0.15935280776029398, + 0.7923385964136975 + ], + "orientation": [ + 0.9996391959227884, + 0.0011594903957243404, + -0.0009389573204043658, + -0.026818872385184267 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_18/model.xml", + "position": [ + 0.2827101604794939, + -0.1669345846870598, + 0.792767035501058 + ], + "orientation": [ + 0.9711083187348015, + -0.19696867089901537, + 0.12316888220971987, + 0.05460221995075914 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_10/model.xml", + "position": [ + -0.25212822891744174, + 0.16987037236149427, + 0.7869216413688528 + ], + "orientation": [ + 0.978917222257212, + 0.19315700430712232, + 0.06573916299446987, + 0.009476608259755657 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_12/model.xml", + "position": [ + -0.03372565391455975, + -0.029285640302425857, + 0.7721873458733848 + ], + "orientation": [ + 0.9943554426333626, + 0.01730017008318189, + -0.10031331543966819, + -0.029919835661383135 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example87/input/input.png b/M&T/select_fruit/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9c94be655ec7eb07780aad1b6306c105d5876109 --- /dev/null +++ b/M&T/select_fruit/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f736ff6abb45789b73c00512e0143c9340900c233ae2baff071f56092ba1c8d +size 890740 diff --git a/M&T/select_fruit/example87/input/input_mask.png b/M&T/select_fruit/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cff0fddd0f5c25839623c1e5a10e47af0d7eea2b --- /dev/null +++ b/M&T/select_fruit/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:388c207f23c4da58459a0d10d857e5dd38baa911a06fb5f01643ed53b95cd6f7 +size 780181 diff --git a/M&T/select_fruit/example87/input/instruction.txt b/M&T/select_fruit/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example87/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example87/output/operation_sequence.json b/M&T/select_fruit/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example87/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example88/env_config/env_config.json b/M&T/select_fruit/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dbdcbcca3d2f67ae638448931acbbc145d58516a --- /dev/null +++ b/M&T/select_fruit/example88/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.948311061974475e-12, + -3.5180240193922357e-10, + -7.566253885483811e-07 + ], + "orientation": [ + 1.0, + 1.52427984313882e-10, + 1.0323554105337021e-10, + -8.768677789012994e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate1/plate.xml", + "position": [ + 0.023527781202930424, + -0.08016023460592184, + 0.7600841752827469 + ], + "orientation": [ + 0.9993157512783712, + 2.2410580746284667e-05, + -2.9958173481255527e-06, + 0.03698687247844148 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_13/model.xml", + "position": [ + -0.2639696772632851, + 0.2788337716698801, + 0.788606480772814 + ], + "orientation": [ + 0.9990173128587202, + -6.736338926118989e-05, + 0.0003488755753428483, + -0.04432022514099938 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_16/model.xml", + "position": [ + 0.28794854321494323, + 0.2726208946781801, + 0.7843670908121778 + ], + "orientation": [ + 0.9660895839464619, + -0.2462168740934231, + 0.0033757400084507426, + -0.07769666068249607 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_19/model.xml", + "position": [ + -0.25930411429603006, + -0.17626012698240334, + 0.7718762754826565 + ], + "orientation": [ + 0.9964073127451691, + -0.004175985995203156, + -0.04529854722259884, + -0.07143577443018659 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_8/model.xml", + "position": [ + 0.2869486084751544, + -0.16351670963367143, + 0.7891944792200672 + ], + "orientation": [ + 0.9996401433280042, + 0.01752022340653936, + -0.007163481510055236, + -0.0190081601320739 + ], + "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 orange into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "orange" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example88/input/input.png b/M&T/select_fruit/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4521fa94b50a8aaecbb954ea388d16b95bc37da3 --- /dev/null +++ b/M&T/select_fruit/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6ecd17d497935a2af1c15bf6b682a0c904b6fae6bf4ab6f7135ab5c933eb1cf +size 865316 diff --git a/M&T/select_fruit/example88/input/input_mask.png b/M&T/select_fruit/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d6aa5289a93d4c7fd9613a11cd0ef7a2bbb05280 --- /dev/null +++ b/M&T/select_fruit/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0435ee34d07f6043c2f351e6037813f357986679582e77fae1eab9b61db02b68 +size 771743 diff --git a/M&T/select_fruit/example88/input/instruction.txt b/M&T/select_fruit/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example88/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example88/output/operation_sequence.json b/M&T/select_fruit/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example88/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example89/env_config/env_config.json b/M&T/select_fruit/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..997bdef3c3314c9087da379314eaa8e71ed4247b --- /dev/null +++ b/M&T/select_fruit/example89/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.701016618826759e-12, + -4.455085486886168e-11, + -7.555000216235456e-07 + ], + "orientation": [ + 1.0, + -2.635184098932286e-10, + 7.99879335496422e-11, + 2.5363080102742363e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.021526410055067707, + 0.2763842351910448, + 0.7674857941617178 + ], + "orientation": [ + 0.9998052166424461, + 6.775615248658149e-08, + -2.336513161045751e-08, + 0.019736483337875105 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_13/model.xml", + "position": [ + 0.27561004267481737, + -0.1702692371564313, + 0.7886064818470079 + ], + "orientation": [ + 0.999454419582303, + -7.129771843190039e-05, + 0.0003481067054123149, + -0.03302630642014393 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_6/model.xml", + "position": [ + -0.2885220219165143, + -0.15883039561763446, + 0.7900579923081366 + ], + "orientation": [ + 0.9971240350647729, + 0.001545645399429754, + 0.0018808013104330396, + -0.0757478201856274 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_1/model.xml", + "position": [ + 0.27720514049225664, + 0.1643918241978801, + 0.789797751566472 + ], + "orientation": [ + 0.9998374857554287, + -0.015900199894749226, + -0.0018075991406047362, + 0.008301705060788141 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_5/model.xml", + "position": [ + -0.016314067881349918, + -0.00819766260037766, + 0.7918683778281189 + ], + "orientation": [ + 0.9965694318183469, + -0.04780295653285577, + -0.023500178684162782, + -0.06334024403007148 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example89/input/input.png b/M&T/select_fruit/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8cc18b8f14027a1bc20c2134a4d81ecf4c0037a1 --- /dev/null +++ b/M&T/select_fruit/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45ee965241e509d4665fbe20a2f21ec87e9ff3379459088d1cad8db5f819f49f +size 876300 diff --git a/M&T/select_fruit/example89/input/input_mask.png b/M&T/select_fruit/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f5607b00207131d182e0dca071b20192a357d4d1 --- /dev/null +++ b/M&T/select_fruit/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2b36529bf39d77585df5f9170600bda36c1dea61e689bf6599624013f83339a +size 777218 diff --git a/M&T/select_fruit/example89/input/instruction.txt b/M&T/select_fruit/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example89/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example89/output/operation_sequence.json b/M&T/select_fruit/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example89/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example9/env_config/env_config.json b/M&T/select_fruit/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2c9f233ccbfa522faf3db86a981a8170713458 --- /dev/null +++ b/M&T/select_fruit/example9/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.529824324970931e-11, + 5.7498051356583165e-11, + -7.550152244082858e-07 + ], + "orientation": [ + 1.0, + -2.5433629591859785e-11, + -4.733495488609593e-11, + 6.68024969372288e-12 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", + "position": [ + 0.16619244159691418, + 0.056515852576154255, + 0.766088213149584 + ], + "orientation": [ + 0.9995832072672223, + 0.00032971304060673394, + 9.872677011600506e-06, + 0.02886698704774527 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_3/model.xml", + "position": [ + -0.27925696945245493, + -0.1764253018683008, + 0.7739151490699848 + ], + "orientation": [ + 0.9982773777714156, + 0.005575569587025646, + -0.04703551444836005, + -0.034624419622363976 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_5/model.xml", + "position": [ + -0.25334762148510465, + 0.2763086819412157, + 0.7911413064511528 + ], + "orientation": [ + 0.9970352851397226, + -0.003666697717809087, + -0.004927778040569227, + -0.07670014679112827 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_5/model.xml", + "position": [ + 0.03952778984050758, + -0.16746834627270837, + 0.7929307605549838 + ], + "orientation": [ + 0.999947357624881, + 0.0069956307722938114, + 0.003108410305488715, + 0.006832343264833628 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example9/input/input.png b/M&T/select_fruit/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..16551943f6f45454349a7a708061a4ebe362bc53 --- /dev/null +++ b/M&T/select_fruit/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abada645863df096627521021a0c9e2a072f65ae2c7162022b03fbeabb62cd00 +size 848658 diff --git a/M&T/select_fruit/example9/input/input_mask.png b/M&T/select_fruit/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fdee273fcc7e0e6d2765eed7acf40ca659b33e1f --- /dev/null +++ b/M&T/select_fruit/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a8728fd21a3afa4855907ebf9616f90c09d58707cc0d8f8024608e601dda713 +size 756128 diff --git a/M&T/select_fruit/example9/input/instruction.txt b/M&T/select_fruit/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example9/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example9/output/operation_sequence.json b/M&T/select_fruit/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example9/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example90/env_config/env_config.json b/M&T/select_fruit/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..981bd8bdc4fa4a7385611fa35c9f241ce0006aeb --- /dev/null +++ b/M&T/select_fruit/example90/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.790034398612299e-10, + -8.834679958707142e-10, + -7.719945760861429e-07 + ], + "orientation": [ + 1.0, + -8.145015270400569e-09, + 3.51426599730511e-09, + 5.725274133076223e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate3/plate.xml", + "position": [ + 0.13102699748656177, + 0.28570605457010745, + 0.7599381546503199 + ], + "orientation": [ + 0.9988286515570454, + 3.883320600305711e-05, + 6.953500112156155e-06, + 0.048387222201395505 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_3/model.xml", + "position": [ + -0.29062662782677906, + -0.15855222935728322, + 0.7739127882773753 + ], + "orientation": [ + 0.9966479993034423, + 0.010326214978704269, + -0.04633776811983768, + 0.06662541567849313 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_0/model.xml", + "position": [ + 0.2550201361797072, + -0.1751752488523494, + 0.7929774425585094 + ], + "orientation": [ + 0.9988431135271507, + -0.020202858583883987, + 0.022129109661816356, + 0.037610923546262255 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_16/model.xml", + "position": [ + -0.2567316661176933, + 0.3035585553413597, + 0.7843177402366998 + ], + "orientation": [ + 0.9677473041597785, + -0.2450422450161069, + -0.03138992947962351, + 0.049336860218415546 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_16/model.xml", + "position": [ + -0.041210509373514545, + 0.02511407992844831, + 0.7944467983118643 + ], + "orientation": [ + 0.9823497429550231, + -0.13427788992351264, + 0.10253665505240425, + -0.08027867191573143 + ], + "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 banana into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "banana" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example90/input/input.png b/M&T/select_fruit/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3f38a607762e9a00f8c6f7c96e41072b5c54a21c --- /dev/null +++ b/M&T/select_fruit/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ffb66bd9e136ffd7f089e20476d6eb7a880d0d1127c63fffaf2ca2409ccd867 +size 857582 diff --git a/M&T/select_fruit/example90/input/input_mask.png b/M&T/select_fruit/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9ce882ada94fc39217fb4b4e17726063f3dcfec3 --- /dev/null +++ b/M&T/select_fruit/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09501da0912ea27fea5fb98cb12e476ab397633df3fed313493ba198c164ce6e +size 760211 diff --git a/M&T/select_fruit/example90/input/instruction.txt b/M&T/select_fruit/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example90/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example90/output/operation_sequence.json b/M&T/select_fruit/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example90/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example91/env_config/env_config.json b/M&T/select_fruit/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f568281c5bff9adf8c2b1031c9c869e1efb3a25d --- /dev/null +++ b/M&T/select_fruit/example91/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.6089391003291703e-10, + -3.486356390457681e-10, + -7.557250405633011e-07 + ], + "orientation": [ + 1.0, + -1.8854031936128384e-10, + -9.326757239272536e-12, + -7.38922035164503e-12 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_14/model.xml", + "position": [ + -0.10317402707786924, + -0.006410749151360225, + 0.7694110255551337 + ], + "orientation": [ + 0.9999093717685661, + -0.006274916014271769, + 0.000633891114996068, + -0.011894194401426953 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_8/model.xml", + "position": [ + 0.28020448079339394, + 0.2835748589581381, + 0.7934742687086893 + ], + "orientation": [ + 0.9988925540529054, + 0.009973123050639502, + 0.0002636519108622298, + -0.04597969945476846 + ], + "class": "Fruit" + }, + { + "name": "mango", + "xml_path": "obj/meshes/fruit/mango/mango_19/model.xml", + "position": [ + 0.25756578852101847, + -0.1876557864802156, + 0.7931920834274531 + ], + "orientation": [ + 0.9965157756724468, + -0.06798537816064508, + -0.0299230685899988, + 0.03793292973730103 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_1/model.xml", + "position": [ + -0.2795278039338673, + 0.26676691185578766, + 0.7876272899476972 + ], + "orientation": [ + 0.9997156445422546, + 0.0006451482974189717, + 0.001624257023336703, + 0.023781834039018717 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_10/model.xml", + "position": [ + -0.04990888593059191, + 0.20997554642775237, + 0.7906823548954971 + ], + "orientation": [ + 0.9986536090026876, + -0.00564298295958128, + -0.0033213297952916472, + 0.051459641833353706 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example91/input/input.png b/M&T/select_fruit/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..36071a507167291411b64f1fa91d2fc6009c9676 --- /dev/null +++ b/M&T/select_fruit/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d99c639631b74ef89dbfec036409ae99b79d59e222071ff799bf84a1866c9733 +size 909882 diff --git a/M&T/select_fruit/example91/input/input_mask.png b/M&T/select_fruit/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ebdfa9f4ec20ea6db8e42825dfc067bfa9986b8d --- /dev/null +++ b/M&T/select_fruit/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0edcb7c645c3af7a76e9092a2ed94a1886dc26dd18f4863ac7cbf8d67bbbe6 +size 796132 diff --git a/M&T/select_fruit/example91/input/instruction.txt b/M&T/select_fruit/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example91/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example91/output/operation_sequence.json b/M&T/select_fruit/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example91/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example92/env_config/env_config.json b/M&T/select_fruit/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..62dd4b02275f699689589a3397f00ad496c8fb20 --- /dev/null +++ b/M&T/select_fruit/example92/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.556420184246238e-11, + -1.2578089783337303e-09, + -7.574189100435822e-07 + ], + "orientation": [ + 1.0, + -1.1382202504730601e-09, + -1.3216698106852501e-10, + 4.094761982840103e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_12/model.xml", + "position": [ + 0.25705724199150065, + 0.27791743739446684, + 0.7734337147185103 + ], + "orientation": [ + 0.9997604833123613, + 0.0002496481103709891, + 0.00021022481945228387, + 0.021883086811010283 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_23/model.xml", + "position": [ + -0.25483687426528845, + -0.15382526899231444, + 0.7718406197147757 + ], + "orientation": [ + 0.9921781390789537, + -0.013907556048445893, + -0.1239963075147705, + 0.003746457164626982 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_15/model.xml", + "position": [ + 0.1971280125833906, + -0.1619032295615498, + 0.7911542062526677 + ], + "orientation": [ + 0.9990614157485732, + 0.014995299912600273, + -0.011796686356895944, + 0.03888787386814551 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_7/peach.xml", + "position": [ + -0.20696097512285444, + 0.26252622553987676, + 0.7912934225952154 + ], + "orientation": [ + 0.9978713849010398, + -0.059376514295173856, + 0.021929446786063927, + -0.01569165732143856 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml", + "position": [ + -0.019253563176287673, + 0.03835986426751277, + 0.7818814158220744 + ], + "orientation": [ + 0.9979992128399864, + -0.06062117728408694, + -0.0012656135143623223, + 0.01791765213115717 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example92/input/input.png b/M&T/select_fruit/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2cd72d9476d1e830960722291d39f286418c5135 --- /dev/null +++ b/M&T/select_fruit/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6be5a363a17d7e28d0769e203a8e53d923e6b819e779fe019a8fa85369cdae5 +size 894942 diff --git a/M&T/select_fruit/example92/input/input_mask.png b/M&T/select_fruit/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..44b2b3eb19d9128a69f15ab37bf7447789a6d36a --- /dev/null +++ b/M&T/select_fruit/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ebb6cd1f20371952b2ad8664a611db4be478151a980ad627d4df1f5c4837adc +size 791898 diff --git a/M&T/select_fruit/example92/input/instruction.txt b/M&T/select_fruit/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example92/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example92/output/operation_sequence.json b/M&T/select_fruit/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example92/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example93/env_config/env_config.json b/M&T/select_fruit/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..73f17a864e472d3d611c1e0db443b4b17af7f06d --- /dev/null +++ b/M&T/select_fruit/example93/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.5846399598480746e-10, + -4.0757732131399745e-10, + -7.58494768881428e-07 + ], + "orientation": [ + 1.0, + -1.4339579423742674e-10, + -1.1455186791661572e-09, + -2.7193470039021106e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate2/plate.xml", + "position": [ + -0.21665942767967494, + -0.012556254231698621, + 0.7633901407672058 + ], + "orientation": [ + 0.9969741213725593, + 3.066540136877222e-07, + -1.736142626554406e-06, + 0.07773417080220422 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_4/model.xml", + "position": [ + 0.2819482330899526, + 0.26888425776850094, + 0.7849148523814113 + ], + "orientation": [ + 0.9978276474011885, + 0.0057936681121408045, + 0.006286984951669471, + -0.06532146134183896 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_2/model.xml", + "position": [ + 0.28507682994268796, + -0.15629395555938635, + 0.7918159850547881 + ], + "orientation": [ + 0.9991561532164817, + -0.0015503986564729647, + 0.002365000677299568, + 0.04097541367021723 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_2/model.xml", + "position": [ + -0.0847465000868629, + 0.3047567444658879, + 0.773340599352848 + ], + "orientation": [ + 0.9658266844530956, + -0.2192332906210278, + -0.1273625178205813, + -0.053799339551879655 + ], + "class": "Fruit" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_8/model.xml", + "position": [ + 0.08509539738769949, + 0.02992780419627724, + 0.7975625620674319 + ], + "orientation": [ + 0.9998491460742197, + 9.6336787243665e-05, + 0.002896220035293665, + -0.01712564519610165 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example93/input/input.png b/M&T/select_fruit/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1ad1704afc38aa03052cc649c759c83b2137754e --- /dev/null +++ b/M&T/select_fruit/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbd398b9286007446fd13a63126a07583e78346c6b8fe98bf0ccad7951822585 +size 881201 diff --git a/M&T/select_fruit/example93/input/input_mask.png b/M&T/select_fruit/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..766c2a25979bacc57bb7ba3b0ac963d3d162c80f --- /dev/null +++ b/M&T/select_fruit/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1871935eab5e6582ca6678acf5c4ef17044c5646c39edaafd45282844a356487 +size 774134 diff --git a/M&T/select_fruit/example93/input/instruction.txt b/M&T/select_fruit/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example93/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example93/output/operation_sequence.json b/M&T/select_fruit/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example93/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example94/env_config/env_config.json b/M&T/select_fruit/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3d09300cee0cd57c51dbe944ba99160c101a3a --- /dev/null +++ b/M&T/select_fruit/example94/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.201297627408028e-10, + -9.527090849736748e-10, + -7.581853209098857e-07 + ], + "orientation": [ + 1.0, + -1.6051686785558872e-10, + 7.429828667260622e-10, + -3.2974837552121795e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", + "position": [ + 0.043673107522784825, + 0.2659496890113441, + 0.7763123987882312 + ], + "orientation": [ + 0.9994752335746634, + 0.0022617155537027803, + 0.002399215083539374, + 0.03222399541661427 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_13/model.xml", + "position": [ + -0.2877280617381092, + -0.16890262800868122, + 0.7904515675250233 + ], + "orientation": [ + 0.9980300919794738, + -0.011380620859615043, + -0.0030307761570620355, + 0.061621679368376266 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_7/peach.xml", + "position": [ + 0.26392188928884575, + -0.16035528546870803, + 0.7912934728554041 + ], + "orientation": [ + 0.9979890973447543, + -0.059693994096447725, + 0.02105484620866764, + -0.0033289789643431256 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_0/model.xml", + "position": [ + -0.2560684648949378, + 0.16098461149588195, + 0.787532450518024 + ], + "orientation": [ + 0.9999726498804492, + 0.006922090487561427, + -0.0006018690363301441, + 0.002534148381083089 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_10/model.xml", + "position": [ + -0.04266491462931461, + -0.04723446516699685, + 0.7869216473595015 + ], + "orientation": [ + 0.9781699551728291, + 0.19105769157694746, + 0.0716129812723781, + 0.03939642369245867 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example94/input/input.png b/M&T/select_fruit/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..71346c3dc9ea2abaa1e879ba50cba9a26e54d90c --- /dev/null +++ b/M&T/select_fruit/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d9a2eae07b318601ef3e098d2996d46ed56223431a0d81fcfa594c8ad246c8b +size 912956 diff --git a/M&T/select_fruit/example94/input/input_mask.png b/M&T/select_fruit/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5affb924e5edeff193c5eeecad37ed3849a7a382 --- /dev/null +++ b/M&T/select_fruit/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4366f547b1d73dbc34a9135326cca6fcc11edc871f501a1da85eaa3570e38bcb +size 806770 diff --git a/M&T/select_fruit/example94/input/instruction.txt b/M&T/select_fruit/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example94/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example94/output/operation_sequence.json b/M&T/select_fruit/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example94/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example95/env_config/env_config.json b/M&T/select_fruit/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e14bec4eb04df89452132fb04a79c34115744dcd --- /dev/null +++ b/M&T/select_fruit/example95/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1471403155194563e-10, + 3.401910249099404e-11, + -7.563707522258357e-07 + ], + "orientation": [ + 1.0, + -7.556633795080509e-10, + 2.8127006743858255e-11, + 5.180115214553828e-12 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", + "position": [ + -0.02624738845285912, + 0.29105607150183543, + 0.7763124003143147 + ], + "orientation": [ + 0.9991497519555668, + 0.0024314308839608265, + 0.002227044635613569, + -0.04109624779924905 + ], + "class": "Plate" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_2/model.xml", + "position": [ + 0.25898892329911244, + -0.1663795381901279, + 0.772547267264783 + ], + "orientation": [ + 0.9979501173185714, + -0.005982531687049381, + -0.060287598717890245, + 0.020619847217960403 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_0/model.xml", + "position": [ + -0.27614976343710607, + -0.17798464129986, + 0.7818808276385764 + ], + "orientation": [ + 0.9981530767197663, + -0.0606354153347614, + 6.747979483596455e-05, + -0.0037117770033869638 + ], + "class": "Fruit" + }, + { + "name": "peach", + "xml_path": "obj/meshes/fruit/peach/peach_6/model.xml", + "position": [ + 0.2728061744003316, + 0.19412350539883483, + 0.7914098446791389 + ], + "orientation": [ + 0.9997754325023236, + 0.01245986710162871, + -0.017109840936653107, + 0.001043848515350271 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example95/input/input.png b/M&T/select_fruit/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b4963d7804e87aa6f76d8e0bf01591e8e2893a3a --- /dev/null +++ b/M&T/select_fruit/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8de4b704b79a5bebfe409f7c1bb26022d619249a6565bbb4d5014f7947ca600c +size 880740 diff --git a/M&T/select_fruit/example95/input/input_mask.png b/M&T/select_fruit/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..452557d00f0919e99a596900ecf0f2000f769c2f --- /dev/null +++ b/M&T/select_fruit/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f44eac10ae8a5b82139150c02c02089720cd7322d2458e1f39fc11d0dc9c313f +size 782707 diff --git a/M&T/select_fruit/example95/input/instruction.txt b/M&T/select_fruit/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16f431354295b66fed5160c7f5ff3e2f9b7b35c5 --- /dev/null +++ b/M&T/select_fruit/example95/input/instruction.txt @@ -0,0 +1 @@ +Put the banana into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example95/output/operation_sequence.json b/M&T/select_fruit/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example95/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example96/env_config/env_config.json b/M&T/select_fruit/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd537fafbe188628b4249bbec2af86866fb9a2d --- /dev/null +++ b/M&T/select_fruit/example96/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.037055371628205e-11, + -4.765297638545921e-12, + -7.56338073418226e-07 + ], + "orientation": [ + 1.0, + -4.792730236574363e-10, + 6.580758253997124e-10, + 1.1370888975766104e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_0/model.xml", + "position": [ + 0.26947425322616037, + 0.13780505877858065, + 0.7763124002989261 + ], + "orientation": [ + 0.9977683915161873, + 0.0024877063925115065, + 0.00216400203594507, + -0.06668856951001627 + ], + "class": "Plate" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_16/model.xml", + "position": [ + -0.2691090791261413, + -0.15240600653288106, + 0.7839354281425016 + ], + "orientation": [ + 0.9682278908766575, + -0.24947297211776737, + -0.01722630916902681, + -0.0011143534812342818 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_13/model.xml", + "position": [ + -0.23058722138608306, + 0.2690636687202774, + 0.7899633045367989 + ], + "orientation": [ + 0.9992300704382825, + -0.003710620768117043, + -0.01992682071123092, + 0.03359195501550742 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_10/model.xml", + "position": [ + 0.07574929489119733, + -0.16631603277475693, + 0.7869216485464426 + ], + "orientation": [ + 0.9781175777826352, + 0.19096385439656877, + 0.07186273396874407, + 0.040676256135161515 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example96/input/input.png b/M&T/select_fruit/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3f95c59f427b167c44ffe386b180df9e110f9524 --- /dev/null +++ b/M&T/select_fruit/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7efab3fb9dc7534ddb92d9e525eee8734d2f5b3f354133f4230345b819e30f7 +size 875897 diff --git a/M&T/select_fruit/example96/input/input_mask.png b/M&T/select_fruit/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3a3194e26756c5f10befc4333bf861586ed2daff --- /dev/null +++ b/M&T/select_fruit/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8486475bfa4e9b077546856f3c78aa1d23c2889f44e0a8830b7012b75ba785a1 +size 772750 diff --git a/M&T/select_fruit/example96/input/instruction.txt b/M&T/select_fruit/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example96/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example96/output/operation_sequence.json b/M&T/select_fruit/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example96/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example97/env_config/env_config.json b/M&T/select_fruit/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..729b64a675b51ea53d3fb66ea926cfafc73e507c --- /dev/null +++ b/M&T/select_fruit/example97/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9327235764440428e-10, + -2.2418621483858265e-10, + -7.551082239265496e-07 + ], + "orientation": [ + 1.0, + 1.810752069770768e-11, + 3.502520843372382e-11, + 1.9788057522677614e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_1/model.xml", + "position": [ + -0.02935813279419047, + -0.15926022126579328, + 0.7674857915494072 + ], + "orientation": [ + 0.9975439399752203, + 1.1124777467644564e-07, + -2.2811973256585087e-08, + 0.07004347092128577 + ], + "class": "Plate" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_9/model.xml", + "position": [ + 0.2688506875183914, + 0.28101668388568113, + 0.7882098950820287 + ], + "orientation": [ + 0.982386445165953, + 0.13509892692325662, + 0.12763599879239582, + 0.01934435604135754 + ], + "class": "Fruit" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_12/model.xml", + "position": [ + -0.253181449604012, + 0.2791551067239137, + 0.7893831493643108 + ], + "orientation": [ + 0.9929948853776999, + -0.11132110101486138, + 0.0075975649857851855, + -0.03887218914408266 + ], + "class": "Fruit" + }, + { + "name": "lemon", + "xml_path": "obj/meshes/fruit/lemon/lemon_16/model.xml", + "position": [ + 0.28403876332820127, + -0.050011588880039315, + 0.7831248954853625 + ], + "orientation": [ + 0.9906290580484943, + -0.0709101454648938, + -0.11547368180265154, + 0.0170777466616691 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example97/input/input.png b/M&T/select_fruit/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..05c999a2037b48c27c167e037ae00f02d4063c25 --- /dev/null +++ b/M&T/select_fruit/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9603e2edf327d8312db585956df178220f3f41ee3eda46efc0017806e910ba69 +size 859971 diff --git a/M&T/select_fruit/example97/input/input_mask.png b/M&T/select_fruit/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fa4115eb715a4509b30fe65cec72dd70536c08c5 --- /dev/null +++ b/M&T/select_fruit/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfd3345880413599e20dd1a5c6ed3d20c2daacbe5e2def922d04ed5422e115eb +size 768502 diff --git a/M&T/select_fruit/example97/input/instruction.txt b/M&T/select_fruit/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6162f2de5dd88985ddc16e205c613742b0082367 --- /dev/null +++ b/M&T/select_fruit/example97/input/instruction.txt @@ -0,0 +1 @@ +Put the orange into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example97/output/operation_sequence.json b/M&T/select_fruit/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example97/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example98/env_config/env_config.json b/M&T/select_fruit/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ff41f29777784419d679e90e07aef4e9b5b3cd84 --- /dev/null +++ b/M&T/select_fruit/example98/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.641546626061254e-09, + -6.340095440275172e-10, + -7.569620216996318e-07 + ], + "orientation": [ + 1.0, + -5.154393785973943e-10, + 1.4080528680921202e-09, + -1.0773329735277045e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate_13/model.xml", + "position": [ + 0.1965451780772797, + -0.026815692537519878, + 0.76610833655394 + ], + "orientation": [ + 0.997878278056575, + 0.0007093925564269744, + 5.527603636931362e-05, + -0.0651032709593306 + ], + "class": "Plate" + }, + { + "name": "apple", + "xml_path": "obj/meshes/fruit/apple/apple_9/model.xml", + "position": [ + -0.2696454761019547, + 0.29259484685211484, + 0.7904611206437182 + ], + "orientation": [ + 0.9993404182386904, + 0.003869073836548044, + 0.03590464862123182, + -0.0038229503727065036 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_4/model.xml", + "position": [ + -0.24816197057385125, + -0.17143475975490563, + 0.7889692903807013 + ], + "orientation": [ + 0.9948705091625144, + 0.07150279970201967, + 0.060462721473644204, + -0.038265897944431 + ], + "class": "Fruit" + }, + { + "name": "banana", + "xml_path": "obj/meshes/fruit/banana/banana_0/banana.xml", + "position": [ + 0.10814721537017223, + 0.2779701755626033, + 0.7774778544003073 + ], + "orientation": [ + 0.9992733486132415, + 0.009117543180726136, + 0.013941075286348022, + 0.03428252583294698 + ], + "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 apple into the plate_seen" + ], + "conditions": { + "contain": { + "container": "plate_seen", + "entities": [ + "apple" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example98/input/input.png b/M&T/select_fruit/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ea2b3671a3c56894c7ea02a3be35583aeb1ca69d --- /dev/null +++ b/M&T/select_fruit/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d7f20bdfb2648ae0ff6ab8caa3ba654533b630ced2bc7da691e43732798cf36 +size 845669 diff --git a/M&T/select_fruit/example98/input/input_mask.png b/M&T/select_fruit/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33c4ecff99d761112cbeaa5289f61620c0706a4f --- /dev/null +++ b/M&T/select_fruit/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0680d815fb34ffd43e4a6b67d41b2e3b3a0a5e79fba5ec7b8816c8a6bb372007 +size 753860 diff --git a/M&T/select_fruit/example98/input/instruction.txt b/M&T/select_fruit/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d58ccb3b09140e2cdc926289b4e64c705384e26 --- /dev/null +++ b/M&T/select_fruit/example98/input/instruction.txt @@ -0,0 +1 @@ +Put the apple into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example98/output/operation_sequence.json b/M&T/select_fruit/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example98/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_fruit/example99/env_config/env_config.json b/M&T/select_fruit/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8022773d0b7568b05a6e5cfe7835529585c6145e --- /dev/null +++ b/M&T/select_fruit/example99/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.9726635696576294e-10, + -1.1126014140786106e-10, + -7.565072905387723e-07 + ], + "orientation": [ + 1.0, + -2.7802115296622273e-10, + 7.573790691525181e-10, + -6.190506780377099e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "plate_seen", + "xml_path": "obj/meshes/tablewares/plates/plate1/plate.xml", + "position": [ + 0.27175817887601367, + 0.03506533020625383, + 0.7600838251593184 + ], + "orientation": [ + 0.9982638758449233, + 2.3386787796993824e-05, + 8.299069659491227e-06, + 0.058900200061257624 + ], + "class": "Plate" + }, + { + "name": "pear", + "xml_path": "obj/meshes/fruit/pear/pear_0/model.xml", + "position": [ + -0.2881060512212878, + 0.259831037158588, + 0.7875157395420463 + ], + "orientation": [ + 0.9930910922541408, + 0.03159001316020187, + -0.11282406670997981, + 0.0065485513694221 + ], + "class": "Fruit" + }, + { + "name": "orange", + "xml_path": "obj/meshes/fruit/orange/orange_5/model.xml", + "position": [ + -0.15715942144544567, + -0.1832254883715149, + 0.7895038000596952 + ], + "orientation": [ + 0.9979818519605402, + -0.00019932090798870306, + -0.007876622329213054, + 0.06300906481823358 + ], + "class": "Fruit" + }, + { + "name": "kiwi", + "xml_path": "obj/meshes/fruit/kiwi/kiwi_6/model.xml", + "position": [ + 0.08784459614878073, + 0.2599256786207975, + 0.7832301454735398 + ], + "orientation": [ + 0.9988754829294493, + -0.034212221535301346, + 0.018411909976749387, + 0.027171585730091336 + ], + "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" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_fruit/example99/input/input.png b/M&T/select_fruit/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4b972e0ce6a10d41c6c9574426a9cd43e3cdb6ff --- /dev/null +++ b/M&T/select_fruit/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50acf59f62db36e39a7af75f7ea1e6b3665930ca551c8eafcace22ca46f5c103 +size 827326 diff --git a/M&T/select_fruit/example99/input/input_mask.png b/M&T/select_fruit/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..208f12400577c0f62f5d4363d40f7d300c0525ac --- /dev/null +++ b/M&T/select_fruit/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3de60b6a3b9ad6638e84a554ae66dd1913aad15f19e5e7a1e92416fc6320c55 +size 735428 diff --git a/M&T/select_fruit/example99/input/instruction.txt b/M&T/select_fruit/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b06e41a48f564c78ce9e3329df72cac98b3592fd --- /dev/null +++ b/M&T/select_fruit/example99/input/instruction.txt @@ -0,0 +1 @@ +Put the pear into the plate_seen \ No newline at end of file diff --git a/M&T/select_fruit/example99/output/operation_sequence.json b/M&T/select_fruit/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_fruit/example99/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example0/env_config/env_config.json b/M&T/select_poker/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..60297f69ea5dfc71c1e5c9c095763d3b2bc538b5 --- /dev/null +++ b/M&T/select_poker/example0/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.009633726110974e-05, + -6.815011111057228e-05, + 0.011998531193963106 + ], + "orientation": [ + 0.9999999999999996, + -4.4878813040795335e-08, + -1.9827216104879238e-08, + 8.138504384559657e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16671139011723043, + 0.1472276346912952, + 0.7779982904737847 + ], + "orientation": [ + 0.7071067809991175, + -4.564428479660406e-08, + 1.7712996712472334e-08, + 0.707106781373976 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16674080536116512, + 0.14729424283277093, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008603, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06688807193237357, + 0.1783693053835861, + 0.7779982916368469 + ], + "orientation": [ + 0.7071067809991156, + -4.5644284795914436e-08, + 1.7712996712188852e-08, + 0.7071067813739775 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06691748718557633, + 0.17843591354093757, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008565, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.052202886252104216, + 0.08431775542281121, + 0.7779983047992234 + ], + "orientation": [ + 0.7071067809991117, + -4.564428478646619e-08, + 1.7712996712229602e-08, + 0.7071067813739814 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.052173470815731815, + 0.08438436393702166, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920636, + -0.5000000000008603, + 0.5000000000007934, + 0.4999999999991404 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 2 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example0/input/input.png b/M&T/select_poker/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c35421332b6823d0468275ae35e6f6ca83cebee4 --- /dev/null +++ b/M&T/select_poker/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f5b929c632fd2a8c7d5418fd7c4980b214c5a0921418cbd91e9d30afd52dcbf +size 905694 diff --git a/M&T/select_poker/example0/input/input_mask.png b/M&T/select_poker/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..099f637df8bf92dbfe1fe01b456e9e3cf5451b20 --- /dev/null +++ b/M&T/select_poker/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a67bd97463372ae46e1660bf66afc068d632a1732e285b29075ba01a28a49842 +size 806955 diff --git a/M&T/select_poker/example0/input/instruction.txt b/M&T/select_poker/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6aae8ae9b9fee26a4d1d99c1d97d71730475f397 --- /dev/null +++ b/M&T/select_poker/example0/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 2 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example0/output/operation_sequence.json b/M&T/select_poker/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example0/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example1/env_config/env_config.json b/M&T/select_poker/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..be16833f684a17b6981afc3ad6dc450e92b128b1 --- /dev/null +++ b/M&T/select_poker/example1/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.731298579211111e-05, + -3.5829379753180506e-05, + 0.011998530829076386 + ], + "orientation": [ + 0.9999999999999993, + -2.3581955468187335e-08, + -2.45653653527644e-08, + 5.7696064262098e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22191900741971501, + 0.07394041558963373, + 0.7779982955472255 + ], + "orientation": [ + 0.7071067810608301, + -3.394882777939406e-08, + -6.57221239947561e-10, + 0.7071067813122648 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22195547621466502, + 0.07397543441001332, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008573, + 0.5000000000007903, + 0.49999999999914274 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06742449673762231, + 0.019221864090076094, + 0.7779983057168864 + ], + "orientation": [ + 0.7071067810608277, + -3.394882777277968e-08, + -6.572212373402265e-10, + 0.7071067813122671 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06746096569913818, + 0.01925688304479058, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007931, + 0.4999999999991403 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06500666771401084, + 0.1217626485087899, + 0.7779983073868544 + ], + "orientation": [ + 0.7071067810608269, + -3.3948827771802594e-08, + -6.572212368882715e-10, + 0.7071067813122679 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06497019873899468, + 0.12179766747226616, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 6 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example1/input/input.png b/M&T/select_poker/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f22727a54a4699349631255f0def2b8de91037e1 --- /dev/null +++ b/M&T/select_poker/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fca8f1778c2d12f6ed6836a09c3fa3ffbbea16bf8cfac522f0d594fdbcc85e31 +size 922346 diff --git a/M&T/select_poker/example1/input/input_mask.png b/M&T/select_poker/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8588469ce08bfca43b43262d8e32675cc34181fb --- /dev/null +++ b/M&T/select_poker/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01d5febadc805c1344c845a7e1f1953e6f4abf86404dbd4d7658e9c6e278a71d +size 821506 diff --git a/M&T/select_poker/example1/input/instruction.txt b/M&T/select_poker/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb07104660b1d41c1116773d96e5886d9a773612 --- /dev/null +++ b/M&T/select_poker/example1/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 6 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example1/output/operation_sequence.json b/M&T/select_poker/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example1/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example10/env_config/env_config.json b/M&T/select_poker/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa10806623e1f1c4be63c46370350cd67ccb2db --- /dev/null +++ b/M&T/select_poker/example10/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.0535066955797454e-07, + -8.970144956694335e-05, + 0.011998491385329048 + ], + "orientation": [ + 0.999999999999998, + -5.8678461280849407e-08, + 2.5605536303071765e-10, + 1.4865048427049426e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18051448290785171, + 0.183760917462277, + 0.7779982490199752 + ], + "orientation": [ + 0.7071067810755922, + -4.1239251094813864e-08, + 4.159991777953811e-08, + 0.7071067812975003 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18051408661570031, + 0.1838485988084218, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008583, + 0.5000000000007909, + 0.4999999999991419 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05397909126876402, + 0.1988683550317795, + 0.7779982471824847 + ], + "orientation": [ + 0.7071067810755913, + -4.123925109557697e-08, + 4.1599917780426854e-08, + 0.7071067812975013 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05397869497210133, + 0.19895603626774025, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991426 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06032409230060779, + 0.03654201421917929, + 0.7779982661712613 + ], + "orientation": [ + 0.7071067810755918, + -4.123925108707534e-08, + 4.159991777190124e-08, + 0.7071067812975009 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06032448854866263, + 0.03662969613855121, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920614, + -0.5000000000008608, + 0.5000000000007938, + 0.49999999999914013 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1759570365463002, + 0.12607149326020436, + 0.7779982556067027 + ], + "orientation": [ + 0.7071067810755927, + -4.1239251091859645e-08, + 4.1599917776763086e-08, + 0.7071067812975013 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1759574328211481, + 0.12615917474196817, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920636, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991401 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example10/input/input.png b/M&T/select_poker/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d69c4654fd775b4a677736cbb80322e27240c141 --- /dev/null +++ b/M&T/select_poker/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28e07f6a5a7684f711d9884dcc46c173e4b896717605faad2f8e3f3b1bcf7c02 +size 909090 diff --git a/M&T/select_poker/example10/input/input_mask.png b/M&T/select_poker/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ef80129a362ac3f7c812093db83af184d2ef6d70 --- /dev/null +++ b/M&T/select_poker/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c738eac052aec640b9c60973ac5e168725934907e00caf25d44eb045540380ea +size 805716 diff --git a/M&T/select_poker/example10/input/instruction.txt b/M&T/select_poker/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..48300c966c8b28edde7d118ece8ff05020d8b7e3 --- /dev/null +++ b/M&T/select_poker/example10/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of spades \ No newline at end of file diff --git a/M&T/select_poker/example10/output/operation_sequence.json b/M&T/select_poker/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example10/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example11/env_config/env_config.json b/M&T/select_poker/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c904b7b98f8aede34cc99eb043e22a196f8ac98a --- /dev/null +++ b/M&T/select_poker/example11/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.603617770515842e-05, + -4.275864341801022e-05, + 0.011998530886527576 + ], + "orientation": [ + 0.999999999999999, + -2.814981610612672e-08, + -2.3731436224565632e-08, + 6.764498593397687e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22023837693816734, + 0.1040701742600922, + 0.77799829368246 + ], + "orientation": [ + 0.7071067810407807, + -3.658577528490229e-08, + 3.1544812598162446e-09, + 0.707106781332314 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2202735977533709, + 0.10411196553809048, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007906, + 0.4999999999991426 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06831078338965614, + 0.1455646952021328, + 0.7779982985565314 + ], + "orientation": [ + 0.7071067810407778, + -3.658577528182895e-08, + 3.1544812607778003e-09, + 0.707106781332317 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06834600427274798, + 0.14560648654579303, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992093, + -0.5000000000008569, + 0.5000000000007896, + 0.4999999999991432 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07148988604827206, + 0.0073166957414822695, + 0.7779983129730371 + ], + "orientation": [ + 0.707106782714679, + -3.658549509640521e-08, + 3.1545370494152698e-09, + 0.7071067796584155 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0714546654241283, + 0.007358486818218888, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.4999999999991393 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example11/input/input.png b/M&T/select_poker/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3089942dfd98eedfba81be3994d67a673f31ff3f --- /dev/null +++ b/M&T/select_poker/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8648c9aaa0a13ae0d5addf5f8cdcf625c88dac3484735a68df13c161ee77a06a +size 905766 diff --git a/M&T/select_poker/example11/input/input_mask.png b/M&T/select_poker/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..81eb4ab7c86433773ab6adfc840e5a9b246586ef --- /dev/null +++ b/M&T/select_poker/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90b13db7ae20cdc853e84367cc228341d9750cc8b2ec1e8767779dc28c086f6d +size 805709 diff --git a/M&T/select_poker/example11/input/instruction.txt b/M&T/select_poker/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..48300c966c8b28edde7d118ece8ff05020d8b7e3 --- /dev/null +++ b/M&T/select_poker/example11/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of spades \ No newline at end of file diff --git a/M&T/select_poker/example11/output/operation_sequence.json b/M&T/select_poker/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example11/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example12/env_config/env_config.json b/M&T/select_poker/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..33d88699040b052d70f3ea2ce8d36557a91700a5 --- /dev/null +++ b/M&T/select_poker/example12/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.388526057915493e-05, + -5.6375374649258396e-05, + 0.011998531038243108 + ], + "orientation": [ + 0.9999999999999991, + -3.7115272823555344e-08, + -2.2314490888226953e-08, + 5.927314995940738e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21670466403197094, + 0.09745162197370884, + 0.7779982932397229 + ], + "orientation": [ + 0.7071067810245577, + -4.1916163109654713e-08, + 1.048099188828737e-08, + 0.7071067813485352 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21673778255972256, + 0.09750672188456067, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007904, + 0.49999999999914296 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.055441920077976464, + 0.06595920848104521, + 0.7779983027730003 + ], + "orientation": [ + 0.7071067810245546, + -4.1916163102890983e-08, + 1.0480991889394786e-08, + 0.7071067813485388 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05547503874572363, + 0.06601430859769213, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999209, + -0.5000000000008572, + 0.5000000000007901, + 0.49999999999914296 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06831546418420427, + 0.17520651653609992, + 0.7779983001870627 + ], + "orientation": [ + 0.7071067810245548, + -4.19161631047697e-08, + 1.0480991888968369e-08, + 0.7071067813485382 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06828234556728564, + 0.17526161657554445, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920774, + -0.5000000000008585, + 0.5000000000007914, + 0.4999999999991416 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example12/input/input.png b/M&T/select_poker/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a193a511331aba65ef9763d41e912340ef34c581 --- /dev/null +++ b/M&T/select_poker/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:476c7d4091516abf472e4754ebb7b494de7b21303b374d3bd6fe5d4c57464265 +size 905690 diff --git a/M&T/select_poker/example12/input/input_mask.png b/M&T/select_poker/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0b761e411da7c093d43020e9120cd5a337fcaeef --- /dev/null +++ b/M&T/select_poker/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1aa162890ec00a1783ce648a0d706e805a3837660cff03307c93e7ed3e0c44b2 +size 806000 diff --git a/M&T/select_poker/example12/input/instruction.txt b/M&T/select_poker/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db9f4b396a6a24cbc308adc4b536ac81721635ed --- /dev/null +++ b/M&T/select_poker/example12/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example12/output/operation_sequence.json b/M&T/select_poker/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example12/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example13/env_config/env_config.json b/M&T/select_poker/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3457a689fff71a41a9a0f8e955412305eea24fbc --- /dev/null +++ b/M&T/select_poker/example13/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.361415615290458e-05, + -6.86065334325151e-05, + 0.011998531230541832 + ], + "orientation": [ + 0.9999999999999993, + -4.518108680000034e-08, + -2.2143931969088755e-08, + 7.219916887192753e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21306032628182972, + 0.14936033623572811, + 0.777998287403577 + ], + "orientation": [ + 0.707106780990508, + -4.748946606224849e-08, + 1.6294548000183296e-08, + 0.7071067813825852 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21309317969512365, + 0.14942739037237782, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.499999999999142 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.057515586267634124, + 0.07025773285438938, + 0.7779983014381234 + ], + "orientation": [ + 0.7071067809905012, + -4.748946605130193e-08, + 1.6294548000940246e-08, + 0.7071067813825918 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05754843989173484, + 0.07032478737229161, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992083, + -0.5000000000008579, + 0.5000000000007907, + 0.49999999999914213 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06807941886613, + 0.1930622271622363, + 0.7779982959043976 + ], + "orientation": [ + 0.7071067809905024, + -4.748946605580098e-08, + 1.629454800048237e-08, + 0.7071067813825908 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06804656533940028, + 0.1931292815007364, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920464, + -0.5000000000008622, + 0.5000000000007953, + 0.49999999999913836 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 4 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example13/input/input.png b/M&T/select_poker/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..245c87b08cb1b97cdaf706e124c66382786577ae --- /dev/null +++ b/M&T/select_poker/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a5599c221d261eccb0cb9c2cf8d08a062e5aa251e8f61deab7ff574ba3a7cc5 +size 923524 diff --git a/M&T/select_poker/example13/input/input_mask.png b/M&T/select_poker/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f86b7d79ac89f8a613898a9511dbae26000b13ae --- /dev/null +++ b/M&T/select_poker/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7200fef25a83bafe416629479e91df13aa9fe8b56db10bd69b4fd205ae00eb91 +size 822794 diff --git a/M&T/select_poker/example13/input/instruction.txt b/M&T/select_poker/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5bc6bad36305b1c3b8547f515908090f863e943 --- /dev/null +++ b/M&T/select_poker/example13/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 4 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example13/output/operation_sequence.json b/M&T/select_poker/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example13/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example14/env_config/env_config.json b/M&T/select_poker/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb2e2f90282bb4717c7c0c0877f4c45c5b7189c --- /dev/null +++ b/M&T/select_poker/example14/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.462021921822961e-05, + -4.277451628696274e-05, + 0.011998530874186064 + ], + "orientation": [ + 0.9999999999999998, + -2.816369374250849e-08, + -2.2799995455903563e-08, + 5.079895654367285e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20754066790697767, + 0.19767939884589225, + 0.7779982893845285 + ], + "orientation": [ + 0.7071067810572773, + -3.5939502821595313e-08, + 3.820354754436577e-09, + 0.7071067813158173 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20757450473088732, + 0.19772120554886294, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992132, + -0.5000000000008534, + 0.5000000000007868, + 0.49999999999914657 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.060480301894451034, + 0.046145430084463084, + 0.7779983046237329 + ], + "orientation": [ + 0.7071067810572741, + -3.59395028117514e-08, + 3.820354757442103e-09, + 0.7071067813158208 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06051413895699293, + 0.046187237045894204, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008568, + 0.5000000000007894, + 0.4999999999991432 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.059401025061311945, + 0.013497687022690639, + 0.77799831192819 + ], + "orientation": [ + 0.7071067825780213, + -3.5939222382989904e-08, + 3.820410603245174e-09, + 0.7071067797950735 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05936718836765676, + 0.013539493586623139, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992054, + -0.500000000000862, + 0.5000000000007949, + 0.4999999999991393 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker queen of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example14/input/input.png b/M&T/select_poker/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2ecb3fa0d42d8cf660ae3991b3ea619c26a74e42 --- /dev/null +++ b/M&T/select_poker/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1be22172d42c3aa3a8feb68db5b5f3f40465368cfbaa55bffbb83b47b817212b +size 926069 diff --git a/M&T/select_poker/example14/input/input_mask.png b/M&T/select_poker/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..18d636f8e43c1b6d8ae1d1ad857412cc84ca95c8 --- /dev/null +++ b/M&T/select_poker/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e092128eab391420e6f9f940772270757fa10c2cd6f788fe2956e5a49e86514 +size 823098 diff --git a/M&T/select_poker/example14/input/instruction.txt b/M&T/select_poker/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ca01df3be7b2728648453927b0c81a525b7a1934 --- /dev/null +++ b/M&T/select_poker/example14/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker queen of clubs \ No newline at end of file diff --git a/M&T/select_poker/example14/output/operation_sequence.json b/M&T/select_poker/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example14/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example15/env_config/env_config.json b/M&T/select_poker/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..435b742d1ef67c90ab37e84adc42b1303cf0d482 --- /dev/null +++ b/M&T/select_poker/example15/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.7909287086407283e-05, + -7.107810714928767e-05, + 0.011998531229434853 + ], + "orientation": [ + 0.9999999999999988, + -4.6807992861768636e-08, + -1.8381332218796817e-08, + 2.2221419533911384e-12 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16683692223572466, + 0.06417451856858124, + 0.7779982981922589 + ], + "orientation": [ + 0.7071067810635039, + -4.5987587017546035e-08, + 2.0093198033265694e-08, + 0.7071067813095893 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1668642000374192, + 0.06424398865792813, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992094, + -0.5000000000008565, + 0.5000000000007894, + 0.49999999999914335 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.061906715901636024, + 0.19675755435013284, + 0.7779982896391494 + ], + "orientation": [ + 0.7071067810635062, + -4.5987587023768954e-08, + 2.009319803343802e-08, + 0.7071067813095869 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06193399360222112, + 0.19682702418297332, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008594, + 0.5000000000007924, + 0.49999999999914113 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.060953229877989436, + 0.16661367166242425, + 0.7779982969766697 + ], + "orientation": [ + 0.7071067810635042, + -4.5987587018409115e-08, + 2.009319803320822e-08, + 0.7071067813095888 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.060925952091070226, + 0.16668314171428364, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992058, + -0.5000000000008613, + 0.5000000000007941, + 0.4999999999991396 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 7 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example15/input/input.png b/M&T/select_poker/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0f7794759048b735fd10e4bdc34f1c7714dc5d26 --- /dev/null +++ b/M&T/select_poker/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8b7f0fce715480fdb987333b4be45aadb2c7b263e27c4d30e8b5837dd95cdf5 +size 990546 diff --git a/M&T/select_poker/example15/input/input_mask.png b/M&T/select_poker/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a360328bf224b60e75881717b4156f9ee289bf2d --- /dev/null +++ b/M&T/select_poker/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9ffc92a8eaf2d95433a2d4a772a8bd0cae1e3a52a525eb090587ae7a9199a47 +size 892953 diff --git a/M&T/select_poker/example15/input/instruction.txt b/M&T/select_poker/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5f3417db3db68d3330affbb30c32362a8eaddee --- /dev/null +++ b/M&T/select_poker/example15/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 7 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example15/output/operation_sequence.json b/M&T/select_poker/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example15/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example16/env_config/env_config.json b/M&T/select_poker/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7ba62f82be45d86005dafd45e1a552102c5062a7 --- /dev/null +++ b/M&T/select_poker/example16/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.3316055443995778e-05, + -5.6719792433018086e-05, + 0.011998530966121175 + ], + "orientation": [ + 0.9999999999999992, + -3.733890765708729e-08, + -1.5349291490608055e-08, + -1.5078622618727797e-12 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15306769637297224, + 0.08982448650483807, + 0.7779982986658812 + ], + "orientation": [ + 0.7071067811067925, + -3.716795357575793e-08, + 1.554491541916343e-08, + 0.7071067812663014 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15309048492037672, + 0.08987992317285824, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008581, + 0.5000000000007914, + 0.49999999999914196 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05881335019731855, + 0.05752844333943688, + 0.7779983039703673 + ], + "orientation": [ + 0.7071067811067905, + -3.7167953572642124e-08, + 1.5544915419191233e-08, + 0.7071067812663033 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.058836138796695865, + 0.057583880134506334, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.499999999999142 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07194589978106314, + 0.19329075298390216, + 0.7779982978469665 + ], + "orientation": [ + 0.7071067811067919, + -3.7167953576182185e-08, + 1.554491541924168e-08, + 0.7071067812663021 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07192311124136215, + 0.19334618963308786, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992073, + -0.500000000000859, + 0.5000000000007917, + 0.4999999999991411 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example16/input/input.png b/M&T/select_poker/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..987a5743fb936208c974af3a793932c0a32d562b --- /dev/null +++ b/M&T/select_poker/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2507dfdd563a1aa8c76eca1efa737f1b47117036e938a8cfe8fc017da7951da +size 924220 diff --git a/M&T/select_poker/example16/input/input_mask.png b/M&T/select_poker/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7ae625dce4813263c6c07a258c6b073aee557852 --- /dev/null +++ b/M&T/select_poker/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42a1d04bfe397502ceccb0b3ef1f414c83a0f60344f5ab2e399a7ec91b57cee7 +size 822734 diff --git a/M&T/select_poker/example16/input/instruction.txt b/M&T/select_poker/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..dff6fd40e351f20727f19eae8d5ab00ba145adaa --- /dev/null +++ b/M&T/select_poker/example16/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example16/output/operation_sequence.json b/M&T/select_poker/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example16/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example17/env_config/env_config.json b/M&T/select_poker/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1b4e848da07d787b91a12a9a6b16f6d0049bb04d --- /dev/null +++ b/M&T/select_poker/example17/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2903309473348495e-05, + -4.686735762852191e-05, + 0.011998530834455798 + ], + "orientation": [ + 1.0, + -3.0846458641497727e-08, + -1.5077218111110635e-08, + 2.8313725374923466e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1601903585751454, + 0.05993786159451927, + 0.7779983014138472 + ], + "orientation": [ + 0.7071067810993219, + -3.2393485911608393e-08, + 1.1153716944389e-08, + 0.7071067812737731 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16021274375557326, + 0.05998366879575186, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05055930096899155, + 0.12429130722800252, + 0.7779983007496567 + ], + "orientation": [ + 0.7071067810993225, + -3.239348591199091e-08, + 1.1153716944262667e-08, + 0.7071067812737726 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.050581686139090996, + 0.12433711440943603, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07318661633592821, + 0.09694103096784838, + 0.7779983061676597 + ], + "orientation": [ + 0.7071067810993216, + -3.2393485909208445e-08, + 1.1153716944309524e-08, + 0.7071067812737734 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07316423111190887, + 0.09698683824873015, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example17/input/input.png b/M&T/select_poker/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9830268911f4e3e3b2a54cc2dfd0414aea2b5918 --- /dev/null +++ b/M&T/select_poker/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3168545a1d47051d7501b9386d812df33e006885b247f4d97cc95abfc29bf32f +size 989559 diff --git a/M&T/select_poker/example17/input/input_mask.png b/M&T/select_poker/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0203b89601647f2eb25313e1204d9fa6dc0cbd5a --- /dev/null +++ b/M&T/select_poker/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4e1f46b654a0fced2f2a38a46c98815c7a87d51d6e5e2a9d06dff7ae9f7081b +size 891455 diff --git a/M&T/select_poker/example17/input/instruction.txt b/M&T/select_poker/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a0786b95d74f14dac8f6bf4fe8baba9b5de3bdf --- /dev/null +++ b/M&T/select_poker/example17/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example17/output/operation_sequence.json b/M&T/select_poker/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example17/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example18/env_config/env_config.json b/M&T/select_poker/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..57ff1b3db2f10158fadf5e8f7da1c85c7887f6e3 --- /dev/null +++ b/M&T/select_poker/example18/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9199420466093546e-07, + -7.930502850878702e-05, + 0.011998491173382798 + ], + "orientation": [ + 0.9999999999999983, + -5.186426797940101e-08, + 1.2117301370012428e-10, + 6.320419290117691e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21059239154737264, + 0.09336592473082513, + 0.777998260648113 + ], + "orientation": [ + 0.7071067811393569, + -3.6524277356345096e-08, + 3.6694955087072725e-08, + 0.7071067812337366 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2105922038574776, + 0.09344344420021973, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.49999999999914235 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05831318286927732, + 0.17927300009294797, + 0.7779982517015165 + ], + "orientation": [ + 0.7071067811393571, + -3.652427735990205e-08, + 3.669495509066547e-08, + 0.707106781233736 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05831299516843887, + 0.17935051924161982, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0698101120468455, + 0.1718452198314387, + 0.77799825244083 + ], + "orientation": [ + 0.707106781139356, + -3.652427735959468e-08, + 3.669495509045814e-08, + 0.7071067812337372 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06981029974673465, + 0.171922738987459, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008574, + 0.5000000000007903, + 0.4999999999991425 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19993584248405893, + 0.03701444361650663, + 0.7779982663930306 + ], + "orientation": [ + 0.7071067811393564, + -3.652427735398375e-08, + 3.669495508488106e-08, + 0.7071067812337372 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.19993603016676526, + 0.037091963222655594, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920725, + -0.5000000000008592, + 0.5000000000007923, + 0.4999999999991412 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example18/input/input.png b/M&T/select_poker/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..50b51fbaeb764f69be7a9d580e0167858776c3d7 --- /dev/null +++ b/M&T/select_poker/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a219c6f9ada3538025fc91dccb5ec0d25f21a012e18204fd6604ad71dcf06f4 +size 991853 diff --git a/M&T/select_poker/example18/input/input_mask.png b/M&T/select_poker/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e9e0312ea5049478001c47846dbd64460a3dc039 --- /dev/null +++ b/M&T/select_poker/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23257cfd3c3d47d55368970d15ff208bc28c976f436edc152dba6481e922a19 +size 890809 diff --git a/M&T/select_poker/example18/input/instruction.txt b/M&T/select_poker/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d209eddb80f37d687a1e146a772e4a6d47dfb5c7 --- /dev/null +++ b/M&T/select_poker/example18/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of spades \ No newline at end of file diff --git a/M&T/select_poker/example18/output/operation_sequence.json b/M&T/select_poker/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example18/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example19/env_config/env_config.json b/M&T/select_poker/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8991d4e2abcfa5ec02cdfbb08750279cc9ed83f4 --- /dev/null +++ b/M&T/select_poker/example19/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.598732168905627e-06, + -6.455310716117161e-05, + 0.011998490927037551 + ], + "orientation": [ + 0.9999999999999997, + -4.220170216166464e-08, + 5.620217014883087e-09, + 1.899465274338827e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17200783501253017, + 0.16073235009720493, + 0.7779982584055463 + ], + "orientation": [ + 0.7071067812059442, + -2.5830335783383525e-08, + 3.374777508345798e-08, + 0.7071067811671508 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17199942990446848, + 0.1607954497533227, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992069, + -0.5000000000008599, + 0.5000000000007928, + 0.49999999999914096 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05070144276458892, + 0.0714221906470073, + 0.7779982645791783 + ], + "orientation": [ + 0.7071067812059456, + -2.5830335782015153e-08, + 3.3747775080855704e-08, + 0.7071067811671494 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05069303763773038, + 0.07148529046673047, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008615, + 0.5000000000007944, + 0.49999999999913947 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05161970756508081, + 0.09220101805565782, + 0.7779982616756699 + ], + "orientation": [ + 0.7071067812059448, + -2.583033578278679e-08, + 3.374777508197312e-08, + 0.7071067811671501 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.051628112682230914, + 0.0922641177919175, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992029, + -0.5000000000008632, + 0.5000000000007964, + 0.499999999999137 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.22305159678218642, + 0.06686769592228421, + 0.7779982618868886 + ], + "orientation": [ + 0.707106781205946, + -2.583033578280826e-08, + 3.3747775081799523e-08, + 0.707106781167149 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.22306000189906852, + 0.06693079565730008, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992072, + -0.5000000000008592, + 0.5000000000007923, + 0.49999999999914096 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example19/input/input.png b/M&T/select_poker/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ae117c9d2e1213597ab2690a00f42f8cb4ab2941 --- /dev/null +++ b/M&T/select_poker/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e420ca3f52a58bc606067623e925c11173f91f49f58a08675fed04474c62d1f2 +size 907660 diff --git a/M&T/select_poker/example19/input/input_mask.png b/M&T/select_poker/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..01f633241d7705271b1dfebb852a57eeef066755 --- /dev/null +++ b/M&T/select_poker/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73138d53a5b975e70a41d89e1ceb4966864f78695204223a19962e45f71a9996 +size 805058 diff --git a/M&T/select_poker/example19/input/instruction.txt b/M&T/select_poker/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..dff6fd40e351f20727f19eae8d5ab00ba145adaa --- /dev/null +++ b/M&T/select_poker/example19/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example19/output/operation_sequence.json b/M&T/select_poker/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example19/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example2/env_config/env_config.json b/M&T/select_poker/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..095cee722f9d11a7f8e2b563034ea624a478d488 --- /dev/null +++ b/M&T/select_poker/example2/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.289014773247788e-06, + -6.383052137603882e-05, + 0.011998490908438382 + ], + "orientation": [ + 0.9999999999999996, + -4.172942569081391e-08, + 2.152325926098571e-09, + -2.2719123763036896e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1784708795759764, + 0.05785122579114235, + 0.7779982659590069 + ], + "orientation": [ + 0.7071067812166493, + -2.793964506324396e-08, + 3.097173273858129e-08, + 0.7071067811564451 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1784676646209316, + 0.057913619323187386, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05562037606198096, + 0.11367544607545013, + 0.7779982607719201 + ], + "orientation": [ + 0.707106781216649, + -2.7939645064705006e-08, + 3.09717327404832e-08, + 0.7071067811564452 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0556171611168738, + 0.11373783947346197, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008564, + 0.5000000000007893, + 0.4999999999991435 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05250128770087821, + 0.15482716572310526, + 0.7779982568725953 + ], + "orientation": [ + 0.7071067812166485, + -2.7939645065869262e-08, + 3.097173274170897e-08, + 0.707106781156446 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05250450263855439, + 0.15488955902113322, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.50000000000086, + 0.5000000000007929, + 0.4999999999991409 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2016582412318451, + 0.060534113830535564, + 0.7779982640990475 + ], + "orientation": [ + 0.7071067812166488, + -2.7939645063834454e-08, + 3.0971732739165394e-08, + 0.7071067811564457 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.20166145618417491, + 0.060596507330966914, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.4999999999991421 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example2/input/input.png b/M&T/select_poker/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9b141824aa409131d2347b98c08ab3d408acff66 --- /dev/null +++ b/M&T/select_poker/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f15cb97ee386c4cc177c656db4d0583bcbf78f03de67782522271a07c0715415 +size 923462 diff --git a/M&T/select_poker/example2/input/input_mask.png b/M&T/select_poker/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..62719791c0df10cd1f5ceea7400b35fa52e3d63d --- /dev/null +++ b/M&T/select_poker/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cc08fb87f8cd7a281a9f3e292f6313fdffe893d415ba81ee83c3f4d922e543c +size 819183 diff --git a/M&T/select_poker/example2/input/instruction.txt b/M&T/select_poker/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2349cadf36913370d926ad6efce9d7450e453edc --- /dev/null +++ b/M&T/select_poker/example2/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example2/output/operation_sequence.json b/M&T/select_poker/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example2/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example20/env_config/env_config.json b/M&T/select_poker/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b34a4077473203212c54d83927309e11c136529f --- /dev/null +++ b/M&T/select_poker/example20/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.426225745061607e-05, + -5.002387427622179e-05, + 0.011998530955748592 + ], + "orientation": [ + 0.9999999999999999, + -3.29307916033716e-08, + -2.2558363861332864e-08, + 3.721370536978475e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21729863262445095, + 0.07110585003560223, + 0.7779982955759895 + ], + "orientation": [ + 0.7071067810533641, + -3.913422921146305e-08, + 7.355519082089685e-09, + 0.7071067813197306 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21733211968327515, + 0.07115474219779579, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914263 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06266779455429997, + 0.03225626484544197, + 0.7779983051097081 + ], + "orientation": [ + 0.7071067810533603, + -3.9134229205068525e-08, + 7.355519083546867e-09, + 0.7071067813197343 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06270128175375905, + 0.032305157196151034, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007931, + 0.4999999999991403 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07406231013319418, + 0.1970076406142448, + 0.777998300428431 + ], + "orientation": [ + 0.7071067810533617, + -3.913422920835323e-08, + 7.355519082672903e-09, + 0.707106781319733 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07402882301446029, + 0.19705653285535266, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920464, + -0.5000000000008622, + 0.5000000000007953, + 0.49999999999913836 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example20/input/input.png b/M&T/select_poker/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..aa34ead56ace43a52570d78efb90c799aec870ea --- /dev/null +++ b/M&T/select_poker/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1bd939be82ba50bc698c67639c66531ef315003e6e683f532e74aa8ee1d2b76 +size 905987 diff --git a/M&T/select_poker/example20/input/input_mask.png b/M&T/select_poker/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..63745d1dd76bb5c319e6006458e408a55b03f589 --- /dev/null +++ b/M&T/select_poker/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef706703b9cb5219f7613d68aba9162a177ab32b359cb4eeff8852911326d249 +size 806849 diff --git a/M&T/select_poker/example20/input/instruction.txt b/M&T/select_poker/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ce1283fba3489fa0a37c09f192b3458980a5f8b --- /dev/null +++ b/M&T/select_poker/example20/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example20/output/operation_sequence.json b/M&T/select_poker/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example20/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example21/env_config/env_config.json b/M&T/select_poker/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0df588bfa2bc6819128caf434886b7e40607955e --- /dev/null +++ b/M&T/select_poker/example21/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.121525022238261e-06, + -2.4334802002838148e-05, + 0.011998490493254245 + ], + "orientation": [ + 0.9999999999999998, + -1.5900751042685436e-08, + 3.348696000384026e-09, + -1.008320262876936e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17900811829823698, + 0.015682592788583947, + 0.7779982703078192 + ], + "orientation": [ + 0.7071067812018278, + -8.865178969630179e-09, + 1.3582643690969837e-08, + 0.7071067811712662 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1790031120646544, + 0.015706379824007282, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06649035200197634, + 0.05813067835203704, + 0.7779982682046418 + ], + "orientation": [ + 0.7071067812018267, + -8.865178969764232e-09, + 1.3582643691406191e-08, + 0.7071067811712675 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06648534577386912, + 0.0581544653682444, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992092, + -0.5000000000008569, + 0.5000000000007898, + 0.49999999999914313 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07065784012115392, + 0.06136554278614357, + 0.777998267183384 + ], + "orientation": [ + 0.7071067812018277, + -8.865178969824495e-09, + 1.358264369161317e-08, + 0.7071067811712664 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07066284634697971, + 0.061389329794811605, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992052, + -0.5000000000008621, + 0.5000000000007951, + 0.49999999999913913 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.20596390866671552, + 0.0119891718396442, + 0.7779982678473307 + ], + "orientation": [ + 0.7071067812018276, + -8.865178969785146e-09, + 1.3582643691423011e-08, + 0.7071067811712664 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.20596891489505112, + 0.012012958858088426, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992041, + -0.5000000000008626, + 0.5000000000007957, + 0.49999999999913797 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example21/input/input.png b/M&T/select_poker/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fd2583786f5703b603ac26aea92cae80131309f6 --- /dev/null +++ b/M&T/select_poker/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f82903203d3a9200c7066b0c60e67c08d66cd59e12cc2735e072c657d1fd0a +size 927916 diff --git a/M&T/select_poker/example21/input/input_mask.png b/M&T/select_poker/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c332ff1d5ba6f075bce46e8214cf9cec15dbaa2f --- /dev/null +++ b/M&T/select_poker/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c25ed1945a8fa966b5aa4543fba65bedf01fdbbd284f4eda9884ad284d645a96 +size 822522 diff --git a/M&T/select_poker/example21/input/instruction.txt b/M&T/select_poker/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16600b41e3b3b3bcf1ab6864c53146413d2928d9 --- /dev/null +++ b/M&T/select_poker/example21/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of spades \ No newline at end of file diff --git a/M&T/select_poker/example21/output/operation_sequence.json b/M&T/select_poker/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example21/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example22/env_config/env_config.json b/M&T/select_poker/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..17f3c09514ebb515d29630cae511cab27d638fac --- /dev/null +++ b/M&T/select_poker/example22/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.3089083542302095e-06, + -8.472775885003364e-05, + 0.011998491285423268 + ], + "orientation": [ + 0.999999999999998, + -5.541699381250341e-08, + 4.141730726265838e-09, + -2.235799588910394e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1652695018202333, + 0.05364688640670042, + 0.7779982658149508 + ], + "orientation": [ + 0.7071067813893691, + -3.6200032211917774e-08, + 4.203475682775424e-08, + 0.7071067809837238 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16526333502733148, + 0.0537297065617036, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914063 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07282341480389158, + 0.1264274095301459, + 0.7779982569839271 + ], + "orientation": [ + 0.7071067813893663, + -3.620003221489694e-08, + 4.203475683228574e-08, + 0.7071067809837267 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07281724806949756, + 0.12651022941333742, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06910704688541705, + 0.13964867346618548, + 0.7779982543432761 + ], + "orientation": [ + 0.7071067813893669, + -3.6200032215710436e-08, + 4.203475683358891e-08, + 0.7071067809837265 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06911321360642987, + 0.13973149332314155, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920725, + -0.500000000000859, + 0.500000000000792, + 0.49999999999914124 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.20835820899796315, + 0.1949167457404505, + 0.7779982470652891 + ], + "orientation": [ + 0.7071067813893667, + -3.620003221806302e-08, + 4.2034756837309426e-08, + 0.7071067809837267 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.20836437567302737, + 0.194999565403774, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920486, + -0.5000000000008622, + 0.5000000000007954, + 0.4999999999991389 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example22/input/input.png b/M&T/select_poker/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a1422ba155bba41017cec04ca93056123396c793 --- /dev/null +++ b/M&T/select_poker/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd00626fc955557cc7e772b828cb29c88417f459433987d249ebc780131a3fe8 +size 906017 diff --git a/M&T/select_poker/example22/input/input_mask.png b/M&T/select_poker/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..46f8508c256e1825098ba7b97b3cfeb32a281de8 --- /dev/null +++ b/M&T/select_poker/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5160f82f7c421f42566796c95e1c162a7bc60159c13d38d3027aee865d0ac45 +size 803582 diff --git a/M&T/select_poker/example22/input/instruction.txt b/M&T/select_poker/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..91c5c9e5698c2421f58a49ad9da54e6fb3628932 --- /dev/null +++ b/M&T/select_poker/example22/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example22/output/operation_sequence.json b/M&T/select_poker/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example22/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example23/env_config/env_config.json b/M&T/select_poker/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ba37c733e512bb0c78b2c927be4513cbcf40a5de --- /dev/null +++ b/M&T/select_poker/example23/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.7594329558994147e-06, + -5.038820389750558e-05, + 0.011998490723926579 + ], + "orientation": [ + 1.0, + -3.293475981390141e-08, + 1.800001801336167e-09, + 3.3473998148310313e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18965718922032435, + 0.11020258552618026, + 0.7779982632606274 + ], + "orientation": [ + 0.7071067811695445, + -2.197990447059441e-08, + 2.4515625831503993e-08, + 0.7071067812035503 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18965449190313208, + 0.11025183934985193, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992084, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914263 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0584752740215303, + 0.12784986910914187, + 0.7779982616261958 + ], + "orientation": [ + 0.7071067811695447, + -2.1979904471125047e-08, + 2.451562583182973e-08, + 0.7071067812035501 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0584725767049768, + 0.12789912288851504, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008565, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07249824500037545, + 0.014348796218217458, + 0.7779982686299161 + ], + "orientation": [ + 0.7071067811695448, + -2.1979904469574868e-08, + 2.451562582984899e-08, + 0.7071067812035499 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07250094231693525, + 0.014398050137449346, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007933, + 0.49999999999914047 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.192065959851648, + 0.05275914594422285, + 0.7779982656698385 + ], + "orientation": [ + 0.7071067811695448, + -2.1979904470312256e-08, + 2.4515625830584102e-08, + 0.7071067812035499 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.192068657167516, + 0.05280839979173249, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008603, + 0.5000000000007933, + 0.4999999999991404 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example23/input/input.png b/M&T/select_poker/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2825d21465cc977617b2ae010372968d1460f1ad --- /dev/null +++ b/M&T/select_poker/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b14f1c91edbe0ae93eb8cb936d1817ff670f30af6576d2878ea8f5023504ebc6 +size 924243 diff --git a/M&T/select_poker/example23/input/input_mask.png b/M&T/select_poker/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..441e7a742542d531ec4db657ba7b7f7e2d4ab6df --- /dev/null +++ b/M&T/select_poker/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f798b9d6c061d5b22e113960909536ddc81ceee5ca294e008c9e4d8238a6106 +size 819411 diff --git a/M&T/select_poker/example23/input/instruction.txt b/M&T/select_poker/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16600b41e3b3b3bcf1ab6864c53146413d2928d9 --- /dev/null +++ b/M&T/select_poker/example23/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of spades \ No newline at end of file diff --git a/M&T/select_poker/example23/output/operation_sequence.json b/M&T/select_poker/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example23/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example24/env_config/env_config.json b/M&T/select_poker/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cac777d965e172a8d7e3400c4418c9b0113e8533 --- /dev/null +++ b/M&T/select_poker/example24/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.821907898683143e-05, + -6.370220974538788e-05, + 0.01199853110548335 + ], + "orientation": [ + 0.9999999999999983, + -4.194820687148794e-08, + -1.858668852692634e-08, + 3.920630298860637e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1720255092357173, + 0.19562508068498305, + 0.7779982874053133 + ], + "orientation": [ + 0.707106781046735, + -4.27018641899624e-08, + 1.651816215490501e-08, + 0.7071067813263588 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17205308969473126, + 0.1956873414836304, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.49999999999914196 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06955486160347427, + 0.018975733071637607, + 0.7779983060319781 + ], + "orientation": [ + 0.7071067810467278, + -4.2701864177131825e-08, + 1.6518162155165006e-08, + 0.7071067813263663 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06958244229861615, + 0.019037994361314658, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008583, + 0.5000000000007911, + 0.49999999999914185 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07167172322468508, + 0.16862580893961301, + 0.7779982987278256 + ], + "orientation": [ + 0.7071067810467304, + -4.270186418224123e-08, + 1.6518162155043142e-08, + 0.7071067813263636 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07164414262892736, + 0.16868807002141575, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992049, + -0.5000000000008622, + 0.5000000000007951, + 0.4999999999991387 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example24/input/input.png b/M&T/select_poker/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9aa84e42c8afd0591c431f9e584c10394bf5b36d --- /dev/null +++ b/M&T/select_poker/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b0a53b9bf339eafa67e726a14be41c6ceb6f0dd0841d5f18a33448799a1d6c5 +size 906621 diff --git a/M&T/select_poker/example24/input/input_mask.png b/M&T/select_poker/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b376a9e9068e02189732fa7a6a23a28e23197eaa --- /dev/null +++ b/M&T/select_poker/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43bc6c61360ba3fdc28797c42e473fcad63c156eb8a7c38c3ce5682767589af7 +size 807252 diff --git a/M&T/select_poker/example24/input/instruction.txt b/M&T/select_poker/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c8ac47423b18d1fa9f8110b1fc5cace3782ce3f --- /dev/null +++ b/M&T/select_poker/example24/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example24/output/operation_sequence.json b/M&T/select_poker/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example24/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example25/env_config/env_config.json b/M&T/select_poker/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ea63885f47d508ad2d96a63523427eeddb524d00 --- /dev/null +++ b/M&T/select_poker/example25/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.7980133484691558e-05, + -5.884481352297439e-05, + 0.01199853102826753 + ], + "orientation": [ + 0.9999999999999991, + -3.8746018670237267e-08, + -1.8432700966102083e-08, + 9.550144091386355e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1811196422440515, + 0.18891770991318085, + 0.7779982888190371 + ], + "orientation": [ + 0.7071067810131181, + -4.033308094557584e-08, + 1.4366279615288123e-08, + 0.7071067813599765 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18114698916684235, + 0.18897522329737934, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.499999999999142 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06070931239900614, + 0.12426527672814384, + 0.7779982982666604 + ], + "orientation": [ + 0.7071067810131147, + -4.0333080939272036e-08, + 1.4366279615735716e-08, + 0.7071067813599784 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.060736659446322915, + 0.12432279032171399, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.500000000000854, + 0.500000000000787, + 0.4999999999991461 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07301370111195712, + 0.04069330357502465, + 0.7779983096708847 + ], + "orientation": [ + 0.7071067810131096, + -4.0333080931693884e-08, + 1.436627961623385e-08, + 0.7071067813599835 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07298635391318394, + 0.04075081742372697, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992049, + -0.5000000000008622, + 0.5000000000007953, + 0.49999999999913874 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example25/input/input.png b/M&T/select_poker/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d94e87ad56661c35ffce2bdf22972c3b09b129f1 --- /dev/null +++ b/M&T/select_poker/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd640879391992398fae697230c71916be193bc986cdbcf0b236939de1db376 +size 905207 diff --git a/M&T/select_poker/example25/input/input_mask.png b/M&T/select_poker/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a0c575bebdc98780435fd3d8afedad42d60e6e4a --- /dev/null +++ b/M&T/select_poker/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf1efc1d73ecc3f94092d079ae9dfdf87e9dc76380fce1bb164689cfdacd7e21 +size 805933 diff --git a/M&T/select_poker/example25/input/instruction.txt b/M&T/select_poker/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..91203dd5c7a723cad970f4d77380719dffc2b7b5 --- /dev/null +++ b/M&T/select_poker/example25/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of clubs \ No newline at end of file diff --git a/M&T/select_poker/example25/output/operation_sequence.json b/M&T/select_poker/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example25/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example26/env_config/env_config.json b/M&T/select_poker/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5bdc7c146fb3c9d9d8124b3fb6559f4d98b5f4c8 --- /dev/null +++ b/M&T/select_poker/example26/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8935061341846028e-06, + -5.708469215947706e-05, + 0.011998490809754424 + ], + "orientation": [ + 0.9999999999999998, + -3.7315306788092496e-08, + 1.244479105731913e-09, + -6.889675331057287e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18239189928742086, + 0.05304271617320728, + 0.7779982664166311 + ], + "orientation": [ + 0.7071067812455932, + -2.546328337158339e-08, + 2.7216472500342145e-08, + 0.7071067811275009 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18239004843080675, + 0.053098515748988925, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0715120800529668, + 0.06582449970478776, + 0.777998265186925 + ], + "orientation": [ + 0.7071067812455942, + -2.5463283371931312e-08, + 2.7216472500668187e-08, + 0.7071067811274998 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07151022919922857, + 0.06588029926732804, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920886, + -0.5000000000008574, + 0.50000000000079, + 0.4999999999991427 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07433991392450963, + 0.07219487981954653, + 0.7779982643486039 + ], + "orientation": [ + 0.707106781245594, + -2.5463283372195113e-08, + 2.721647250088041e-08, + 0.7071067811275001 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07434176477663479, + 0.07225067938348656, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007944, + 0.49999999999913963 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1915200034813928, + 0.15478941562603843, + 0.777998257893821 + ], + "orientation": [ + 0.7071067812455932, + -2.5463283373914534e-08, + 2.7216472502866148e-08, + 0.7071067811275011 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.19152185431612154, + 0.1548452150514981, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920314, + -0.5000000000008632, + 0.5000000000007963, + 0.49999999999913713 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example26/input/input.png b/M&T/select_poker/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dd58ab6100a914add76ad066a94fe5764d76b715 --- /dev/null +++ b/M&T/select_poker/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:261a7da80d02f92017b23a05cd9fa6651376d0f45b7e8625b9a29193b78789e6 +size 908984 diff --git a/M&T/select_poker/example26/input/input_mask.png b/M&T/select_poker/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d706d995401bb66d591b048b69c855c061718f4e --- /dev/null +++ b/M&T/select_poker/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db07cc0ec851d2e25c73231ffcfd3de83da522b7ed5c7e7548e5fa6ba2c0cd94 +size 805693 diff --git a/M&T/select_poker/example26/input/instruction.txt b/M&T/select_poker/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..75fcaf85a44d77a85aefdfad05f9e9e767e10fd0 --- /dev/null +++ b/M&T/select_poker/example26/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of hearts \ No newline at end of file diff --git a/M&T/select_poker/example26/output/operation_sequence.json b/M&T/select_poker/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example26/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example27/env_config/env_config.json b/M&T/select_poker/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cd02b47a12109fd1217f4cb8b4ce6e6c3ab42d93 --- /dev/null +++ b/M&T/select_poker/example27/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.2669598762864785e-05, + -5.095448210331838e-05, + 0.011998530954199211 + ], + "orientation": [ + 0.9999999999999997, + -3.354346031547464e-08, + -2.1512572743897813e-08, + 6.067757048455296e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19535235888176283, + 0.06555740464053823, + 0.7779982972580457 + ], + "orientation": [ + 0.7071067810385133, + -3.883008168902262e-08, + 8.524596777673999e-09, + 0.7071067813345806 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19538428933059254, + 0.06560720640399394, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992084, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914263 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07283362759506072, + 0.15756042215339494, + 0.7779982963573665 + ], + "orientation": [ + 0.7071067810385127, + -3.883008168977125e-08, + 8.524596777351102e-09, + 0.7071067813345812 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0728655580194833, + 0.15761022388151158, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07164932947443362, + 0.08285673252010019, + 0.7779983075837424 + ], + "orientation": [ + 0.7071067810385104, + -3.883008168226195e-08, + 8.524596778850675e-09, + 0.7071067813345835 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0716173988858585, + 0.0829065344703125, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example27/input/input.png b/M&T/select_poker/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a3926ba6c022f1a559f4edf3bc0e37babef5a74d --- /dev/null +++ b/M&T/select_poker/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd4ef36dcf19ca8df1a74082984c9318ec53ea31d9441e30fa2131153fd2d1a +size 988691 diff --git a/M&T/select_poker/example27/input/input_mask.png b/M&T/select_poker/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..76383758597ba5a54a57766ede492712ddea2f3a --- /dev/null +++ b/M&T/select_poker/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6a722c092aec956db89d54696e1ef13e497d2b29e3cc2277501d190773b7220 +size 892183 diff --git a/M&T/select_poker/example27/input/instruction.txt b/M&T/select_poker/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..aef1ea70ee5b34a0de4d029af0a4b3334f1d2511 --- /dev/null +++ b/M&T/select_poker/example27/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example27/output/operation_sequence.json b/M&T/select_poker/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example27/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example28/env_config/env_config.json b/M&T/select_poker/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..82742509eed2c600d7491a7e554d1cab55248448 --- /dev/null +++ b/M&T/select_poker/example28/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.4701197723392573e-05, + -7.915798080511531e-05, + 0.0119985313627704 + ], + "orientation": [ + 0.9999999999999983, + -5.213735159530083e-08, + -1.627835376444176e-08, + 9.261116917680841e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16020276120961283, + 0.19893477734603754, + 0.7779982845078331 + ], + "orientation": [ + 0.7071067809964358, + -4.8268183248836086e-08, + 2.5336288867063382e-08, + 0.7071067813766573 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16022690329077052, + 0.19901214406922238, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.4999999999991421 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.053841957705677006, + 0.1347105436522819, + 0.7779982946660475 + ], + "orientation": [ + 0.7071067809964308, + -4.826818324140977e-08, + 2.5336288866054824e-08, + 0.7071067813766623 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05386609990519228, + 0.1347879106927813, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008565, + 0.5000000000007895, + 0.4999999999991436 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06497478109280024, + 0.1428473762803396, + 0.777998297685416 + ], + "orientation": [ + 0.7071067809964311, + -4.8268183239398286e-08, + 2.5336288865596e-08, + 0.7071067813766628 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06495063886353848, + 0.1429247433977529, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992073, + -0.500000000000859, + 0.5000000000007917, + 0.4999999999991411 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example28/input/input.png b/M&T/select_poker/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..69b62588c2c85e017f9734fc47010a4afcba2c2c --- /dev/null +++ b/M&T/select_poker/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59a1c56e8f4057da019b08abbbfcc081864a78b1e9384d590e31abc0bb71acc9 +size 989361 diff --git a/M&T/select_poker/example28/input/input_mask.png b/M&T/select_poker/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f338793e239ce0ad9daa090f2ba7a79f1e65adc5 --- /dev/null +++ b/M&T/select_poker/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b64b7e3737ea310ba9c7ea5e5a58a6e085790debcad95915f0447da5b12187a4 +size 892351 diff --git a/M&T/select_poker/example28/input/instruction.txt b/M&T/select_poker/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7598672f3a0085a7b822a9032273738404e88b32 --- /dev/null +++ b/M&T/select_poker/example28/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of spades \ No newline at end of file diff --git a/M&T/select_poker/example28/output/operation_sequence.json b/M&T/select_poker/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example28/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example29/env_config/env_config.json b/M&T/select_poker/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9bfbd50418f157d6dea3f4570153615b7e6ec36d --- /dev/null +++ b/M&T/select_poker/example29/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.2922914097979167e-05, + -3.83978815596574e-05, + 0.011998490615883128 + ], + "orientation": [ + 1.0, + -2.5098839127365344e-08, + -8.458339142865078e-09, + 7.883030480149814e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22370170215938123, + 0.16439416786240166, + 0.7779982576943207 + ], + "orientation": [ + 0.7071067810962613, + -2.3674452509991542e-08, + 1.1758751525011501e-08, + 0.7071067812768337 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22371433404542032, + 0.16443170123791864, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920897, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914296 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0749628627556511, + 0.052632526745151426, + 0.7779982658194615 + ], + "orientation": [ + 0.7071067810962601, + -2.367445250723469e-08, + 1.1758751524742327e-08, + 0.7071067812768349 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0749754947050079, + 0.05267006022739787, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008574, + 0.5000000000007903, + 0.4999999999991425 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05499984825732612, + 0.010910061402475283, + 0.7779982701117354 + ], + "orientation": [ + 0.7071067810962594, + -2.3674452505874416e-08, + 1.175875152451929e-08, + 0.7071067812768356 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05498721627746023, + 0.01094759493238027, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008616, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16454781014632405, + 0.004799611085530723, + 0.7779982722713343 + ], + "orientation": [ + 0.7071067810962598, + -2.3674452505174833e-08, + 1.1758751524388653e-08, + 0.7071067812768351 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.16453517815363441, + 0.004837144631917127, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007933, + 0.4999999999991404 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example29/input/input.png b/M&T/select_poker/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ec678b73fb710e12cc8a83c851d1b7bde315e7cc --- /dev/null +++ b/M&T/select_poker/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43a3604eff241bb0971cf4ae652f35c39f0f4e904e1a65745eab631b9bff3562 +size 925914 diff --git a/M&T/select_poker/example29/input/input_mask.png b/M&T/select_poker/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..24fb85737149c9c8b6cf91521129f9728e374b54 --- /dev/null +++ b/M&T/select_poker/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a97fb7c5c70d7093fd5f9d23965c224bc1a1d524fd67067855cf7421f6aaccd1 +size 820968 diff --git a/M&T/select_poker/example29/input/instruction.txt b/M&T/select_poker/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a64320e157efc76335c2d7feb79db22a9a640f6 --- /dev/null +++ b/M&T/select_poker/example29/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of hearts \ No newline at end of file diff --git a/M&T/select_poker/example29/output/operation_sequence.json b/M&T/select_poker/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example29/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example3/env_config/env_config.json b/M&T/select_poker/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b56ef34ec735fcf9878d44fb660861b94186dd9f --- /dev/null +++ b/M&T/select_poker/example3/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.433488943572182e-06, + -2.3233514617920983e-05, + 0.011998490487390035 + ], + "orientation": [ + 0.9999999999999996, + -1.5181047224358958e-08, + 3.5524033468870084e-09, + -9.211951915906826e-12 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17541032270018206, + 0.01444401100189976, + 0.7779982704095525 + ], + "orientation": [ + 0.707106781201262, + -8.213674050796419e-09, + 1.321810949879153e-08, + 0.7071067811718328 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17540501152440865, + 0.01446672154103842, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007945, + 0.4999999999991398 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05028122034694292, + 0.05674734865946747, + 0.7779982682364378 + ], + "orientation": [ + 0.7071067812012614, + -8.213674051000302e-09, + 1.3218109499147795e-08, + 0.7071067811718333 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.050275909177001095, + 0.056770059179721534, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.052937347971176656, + 0.062184934448898714, + 0.7779982673381263 + ], + "orientation": [ + 0.7071067812012618, + -8.213674050962505e-09, + 1.3218109499341107e-08, + 0.7071067811718328 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.052942659138947114, + 0.062207644962367845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007933, + 0.49999999999914047 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.20575499829276606, + 0.007128432580245084, + 0.7779982679239302 + ], + "orientation": [ + 0.7071067812012624, + -8.213674050873987e-09, + 1.3218109499322241e-08, + 0.7071067811718325 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.20576030946297455, + 0.0071511431025061654, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007948, + 0.49999999999913924 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 6 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example3/input/input.png b/M&T/select_poker/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f5d9105325c39bf2a42ee212c461f9f7061e19a1 --- /dev/null +++ b/M&T/select_poker/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41030daf5e85cda38833ce018dc21b09819e516e2c296e33cc6850012b7749ea +size 927179 diff --git a/M&T/select_poker/example3/input/input_mask.png b/M&T/select_poker/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ab684578eb0637c8a36bd519ba40ee36b1eca5ea --- /dev/null +++ b/M&T/select_poker/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d14d962010c86126ab2d655a7eb3df9b72ec2032eb14b449f54d0b08b11706be +size 821859 diff --git a/M&T/select_poker/example3/input/instruction.txt b/M&T/select_poker/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6557edd0d6913f6724f56216aa66bd451965575c --- /dev/null +++ b/M&T/select_poker/example3/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 6 of spades \ No newline at end of file diff --git a/M&T/select_poker/example3/output/operation_sequence.json b/M&T/select_poker/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example3/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example30/env_config/env_config.json b/M&T/select_poker/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2821e71232d94afc7e589588b1de1aadf4c3b3a1 --- /dev/null +++ b/M&T/select_poker/example30/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.7905538895039745e-05, + -6.26274999574483e-05, + 0.011998531085603531 + ], + "orientation": [ + 0.9999999999999994, + -4.1233416723190486e-08, + -1.8378741667345352e-08, + 5.900003099887456e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17577153748661217, + 0.10873364786301729, + 0.7779982947637205 + ], + "orientation": [ + 0.7071067810347189, + -4.2050832811830374e-08, + 1.6160078469907623e-08, + 0.7071067813383753 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17579881159528707, + 0.1087948584851144, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05933123668865252, + 0.147859285706115, + 0.7779982958170493 + ], + "orientation": [ + 0.7071067810347179, + -4.2050832811207275e-08, + 1.61600784698654e-08, + 0.7071067813383762 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.059358510804725984, + 0.14792049634119964, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008565, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06716386959705925, + 0.11968428828491627, + 0.7779983027891599 + ], + "orientation": [ + 0.7071067810347162, + -4.205083280664724e-08, + 1.616007846988099e-08, + 0.7071067813383776 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06713659539551806, + 0.11974549908783759, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920625, + -0.5000000000008605, + 0.5000000000007937, + 0.4999999999991402 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example30/input/input.png b/M&T/select_poker/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..14014507795fc6890356f4ec280443a5957c8022 --- /dev/null +++ b/M&T/select_poker/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:816c504a1677a0414f9c939e4568f088e60ea0362ff089c4979ee6406d2af618 +size 921126 diff --git a/M&T/select_poker/example30/input/input_mask.png b/M&T/select_poker/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f7d57e9ba5315d7e2a103c20369c50a92c2a6f3f --- /dev/null +++ b/M&T/select_poker/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fc17ba0154c522318515a5960a08676123d9effc4d81e04d6a7335af9621f11 +size 822353 diff --git a/M&T/select_poker/example30/input/instruction.txt b/M&T/select_poker/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3e679987881cd06d9b495046599d1b9ab4e96475 --- /dev/null +++ b/M&T/select_poker/example30/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example30/output/operation_sequence.json b/M&T/select_poker/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example30/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example31/env_config/env_config.json b/M&T/select_poker/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c6f3f529576ae2b2fc89b254d9165016a220f5bd --- /dev/null +++ b/M&T/select_poker/example31/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.7124868059908934e-06, + -6.576006528395964e-05, + 0.0119984909388459 + ], + "orientation": [ + 0.9999999999999984, + -4.299331730636995e-08, + -2.4281106556849357e-09, + 8.729928972280888e-12 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1845685104792974, + 0.11728303263244162, + 0.7779982590689631 + ], + "orientation": [ + 0.7071067811650097, + -3.205813411871646e-08, + 2.86375425412351e-08, + 0.707106781208084 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18457213936243297, + 0.11734731208326309, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991424 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06217721569723091, + 0.10351557621302122, + 0.7779982608468767 + ], + "orientation": [ + 0.7071067811650088, + -3.2058134117937504e-08, + 2.8637542540882137e-08, + 0.707106781208085 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06218084458341528, + 0.10357985571099002, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921557, + -0.5000000000008513, + 0.500000000000785, + 0.4999999999991487 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05505943316170314, + 0.022014626326076796, + 0.7779982684230758 + ], + "orientation": [ + 0.7071067811650086, + -3.2058134115067055e-08, + 2.863754253860465e-08, + 0.7071067812080853 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05505580426209922, + 0.022078906032560783, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999919814, + -0.5000000000008689, + 0.5000000000008024, + 0.4999999999991314 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16913631048712094, + 0.15589888048076145, + 0.7779982574664223 + ], + "orientation": [ + 0.7071067811650086, + -3.205813411916896e-08, + 2.863754254190775e-08, + 0.707106781208085 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.16913268160722572, + 0.155963159880359, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991395 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example31/input/input.png b/M&T/select_poker/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6901470df59a6fcee8a779d8372a66adcc835cb5 --- /dev/null +++ b/M&T/select_poker/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36ea0d16da96480d7a63a773afb453948a36cf2b1534df67e140d02494c77178 +size 908823 diff --git a/M&T/select_poker/example31/input/input_mask.png b/M&T/select_poker/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e66018cf652c0d1702845164576f461226cdff6a --- /dev/null +++ b/M&T/select_poker/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9206a6d97753b1812c768c8da607dee592282ce8459beadcabc85be7f9e31a9d +size 805245 diff --git a/M&T/select_poker/example31/input/instruction.txt b/M&T/select_poker/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..48300c966c8b28edde7d118ece8ff05020d8b7e3 --- /dev/null +++ b/M&T/select_poker/example31/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of spades \ No newline at end of file diff --git a/M&T/select_poker/example31/output/operation_sequence.json b/M&T/select_poker/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example31/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example32/env_config/env_config.json b/M&T/select_poker/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..476ce4ad1ed632727c09d8757fb5e786c3cd4b51 --- /dev/null +++ b/M&T/select_poker/example32/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.475447080870937e-05, + -4.993298721419242e-05, + 0.011998530883444205 + ], + "orientation": [ + 0.9999999999999993, + -3.2870086157565926e-08, + -1.6300018867535846e-08, + 4.261220620182568e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16361535585760198, + 0.17118896184774332, + 0.7779982934038469 + ], + "orientation": [ + 0.7071067810784866, + -3.4683219524117704e-08, + 1.1720832484036072e-08, + 0.707106781294607 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16363955021393603, + 0.1712377651536868, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991421 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05539114271824557, + 0.02397159921779826, + 0.7779983066080969 + ], + "orientation": [ + 0.7071067810784847, + -3.4683219516582155e-08, + 1.1720832484506895e-08, + 0.707106781294609 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05541533722568894, + 0.024020402791563866, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992083, + -0.5000000000008579, + 0.5000000000007908, + 0.49999999999914224 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07006643891732289, + 0.10476032111813194, + 0.7779983053871355 + ], + "orientation": [ + 0.7071067810784857, + -3.468321951727046e-08, + 1.1720832484565916e-08, + 0.7071067812946079 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07004224443001635, + 0.10480912465470231, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example32/input/input.png b/M&T/select_poker/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..54da037145048e9ae8320496c99ee883d6500e9c --- /dev/null +++ b/M&T/select_poker/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a697aef809dc2ab2892b5845d1bff5db0680232bf7dbc4e9d0c44e100b891e7e +size 990755 diff --git a/M&T/select_poker/example32/input/input_mask.png b/M&T/select_poker/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e9b9f6961c563196ed39c361c7ef1eebafe4d0d2 --- /dev/null +++ b/M&T/select_poker/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a8ab928ae8be5364d3d32689cd91bd24b70ed5f33b03bc497af6efe601ff2a8 +size 893236 diff --git a/M&T/select_poker/example32/input/instruction.txt b/M&T/select_poker/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..91c5c9e5698c2421f58a49ad9da54e6fb3628932 --- /dev/null +++ b/M&T/select_poker/example32/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example32/output/operation_sequence.json b/M&T/select_poker/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example32/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example33/env_config/env_config.json b/M&T/select_poker/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bf7f6b2ed9ca27a72d0e92bbee476a9da1a9f8e7 --- /dev/null +++ b/M&T/select_poker/example33/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.8514188618744498e-06, + -9.704348228151161e-05, + 0.01199849155134778 + ], + "orientation": [ + 0.9999999999999974, + -6.348511369328376e-08, + -1.866615274201722e-09, + 1.3774181445547721e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.218227645651877, + 0.13577091648187842, + 0.7779982526032705 + ], + "orientation": [ + 0.7071067811591845, + -4.612726614393487e-08, + 4.349767561559681e-08, + 0.7071067812139084 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21823043283414315, + 0.1358657745755614, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920586, + -0.5000000000008609, + 0.500000000000794, + 0.4999999999991401 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0711730264398312, + 0.1642210859712658, + 0.7779982495403877 + ], + "orientation": [ + 0.7071067811591843, + -4.612726614544783e-08, + 4.349767561700674e-08, + 0.7071067812139086 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.071175813617565, + 0.16431594393494914, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008584, + 0.5000000000007913, + 0.49999999999914263 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05250376527610161, + 0.1383644478239587, + 0.7779982532845713 + ], + "orientation": [ + 0.7071067811591843, + -4.6127266143516444e-08, + 4.349767561536836e-08, + 0.7071067812139084 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.052500978093092183, + 0.13845930593754832, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921213, + -0.5000000000008549, + 0.500000000000788, + 0.49999999999914563 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.21952107675698515, + 0.15138388139066972, + 0.7779982522551573 + ], + "orientation": [ + 0.7071067811591839, + -4.612726614394088e-08, + 4.349767561590739e-08, + 0.7071067812139089 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.21951828957560166, + 0.15147873945707518, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920647, + -0.5000000000008603, + 0.5000000000007934, + 0.49999999999914047 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 2 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example33/input/input.png b/M&T/select_poker/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b4790015e0fe72a56a9db667d2de6ac2150dd137 --- /dev/null +++ b/M&T/select_poker/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f73ce5235a45f69f469fc93d9cd1db25939dc221e5a7bc39f677cd40a74b36ab +size 990621 diff --git a/M&T/select_poker/example33/input/input_mask.png b/M&T/select_poker/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f80242c3a53f372bf362a486f81e42a1a805c510 --- /dev/null +++ b/M&T/select_poker/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64d9ce2f09aafd1c6b6c91edbf0c244f40ff55b622c53f133d03dbf32878a702 +size 890446 diff --git a/M&T/select_poker/example33/input/instruction.txt b/M&T/select_poker/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3f7825b3cd52d543344af6a679b64536d4c2627 --- /dev/null +++ b/M&T/select_poker/example33/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 2 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example33/output/operation_sequence.json b/M&T/select_poker/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example33/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example34/env_config/env_config.json b/M&T/select_poker/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7c230a6a6557ff83cbf8293786a1c8c7b3e9e6d7 --- /dev/null +++ b/M&T/select_poker/example34/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.0877140312411096e-06, + -4.582580390076176e-05, + 0.01199849067493345 + ], + "orientation": [ + 1.0, + -2.995225139539449e-08, + 3.979223384624273e-09, + -1.4876422044233659e-12 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18136504979863555, + 0.0474162465116648, + 0.777998268390574 + ], + "orientation": [ + 0.7071067812046985, + -1.8339638947027785e-08, + 2.3945346831597732e-08, + 0.707106781168396 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1813590991359703, + 0.04746104073764318, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05754050407818352, + 0.16810796804515082, + 0.7779982601763602 + ], + "orientation": [ + 0.707106781204697, + -1.8339638948376368e-08, + 2.3945346834060007e-08, + 0.7071067811683973 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05753455343705136, + 0.16815276211227329, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920935, + -0.5000000000008565, + 0.5000000000007896, + 0.49999999999914335 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.062237040485224694, + 0.016591330526940368, + 0.7779982682984448 + ], + "orientation": [ + 0.7071067812046979, + -1.8339638947190333e-08, + 2.394534683156449e-08, + 0.7071067811683965 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.062242991147751295, + 0.016636124751913672, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920597, + -0.5000000000008612, + 0.5000000000007943, + 0.49999999999914 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2135318539236925, + 0.04543991159653986, + 0.7779982653666466 + ], + "orientation": [ + 0.7071067812046977, + -1.8339638947686532e-08, + 2.3945346832342803e-08, + 0.7071067811683965 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.21353780457857932, + 0.045484705765157465, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920763, + -0.5000000000008588, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example34/input/input.png b/M&T/select_poker/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e82402f6aec114eff5649b1e72d491e45afbcff4 --- /dev/null +++ b/M&T/select_poker/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd20cfeaf30e81bf83f23e322f06fa14642a71c00f92aa8c645209a5c2168052 +size 925298 diff --git a/M&T/select_poker/example34/input/input_mask.png b/M&T/select_poker/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a59e13b0805eeca5bf246d2f2472af3586ec834 --- /dev/null +++ b/M&T/select_poker/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ec8c9de65f82ffabe48bfb0dd5778a44389e45e160c44e39e21872f93bc1430 +size 821724 diff --git a/M&T/select_poker/example34/input/instruction.txt b/M&T/select_poker/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b62d17f49df33b3582aee7c8182f3200b36050b1 --- /dev/null +++ b/M&T/select_poker/example34/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example34/output/operation_sequence.json b/M&T/select_poker/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example34/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example35/env_config/env_config.json b/M&T/select_poker/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..355c10cfb55fec6703d9802ff721061607255810 --- /dev/null +++ b/M&T/select_poker/example35/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.7401102505620575e-06, + -4.0692750515454176e-05, + 0.011998490619948215 + ], + "orientation": [ + 0.9999999999999999, + -2.6594266705570787e-08, + 3.0965647368646554e-09, + 9.40341439445002e-12 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1857223915346289, + 0.1115391691396211, + 0.7779982649513584 + ], + "orientation": [ + 0.7071067811911562, + -1.659104954110201e-08, + 2.095330815213153e-08, + 0.7071067811819379 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1857177581375742, + 0.11157894581508171, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920725, + -0.5000000000008592, + 0.5000000000007918, + 0.4999999999991412 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06528796006535896, + 0.029054516316053783, + 0.7779982685921916 + ], + "orientation": [ + 0.7071067811911558, + -1.6591049540565884e-08, + 2.0953308151221832e-08, + 0.7071067811819385 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0652833266626726, + 0.029094293051763174, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920647, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914035 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06576163122645222, + 0.10008417865893021, + 0.7779982640032997 + ], + "orientation": [ + 0.7071067811911558, + -1.6591049541319538e-08, + 2.0953308152340144e-08, + 0.7071067811819385 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06576626462137355, + 0.10012395531297384, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920525, + -0.5000000000008621, + 0.5000000000007951, + 0.49999999999913913 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2138292792171778, + 0.00563047249511374, + 0.7779982681095444 + ], + "orientation": [ + 0.7071067811911546, + -1.6591049540689925e-08, + 2.0953308151235253e-08, + 0.7071067811819397 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.21383391261842158, + 0.005670249216859967, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913947 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example35/input/input.png b/M&T/select_poker/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..963664587523caf1733bef4895e327f152649887 --- /dev/null +++ b/M&T/select_poker/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bca49ae98c5b16054304e2c5d554206fb16cfe06c2473687366b6ab99c1a8702 +size 993595 diff --git a/M&T/select_poker/example35/input/input_mask.png b/M&T/select_poker/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9e4a4d7b33d2001812181fe40a90d0f80d331c18 --- /dev/null +++ b/M&T/select_poker/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc39561391b12f851ae12eed58ecf9876f4cfc6870e53a450ad624162a59257d +size 892776 diff --git a/M&T/select_poker/example35/input/instruction.txt b/M&T/select_poker/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ce1283fba3489fa0a37c09f192b3458980a5f8b --- /dev/null +++ b/M&T/select_poker/example35/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example35/output/operation_sequence.json b/M&T/select_poker/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example35/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example36/env_config/env_config.json b/M&T/select_poker/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..39c50a57c4e00acc66d4492a677862f58056ec02 --- /dev/null +++ b/M&T/select_poker/example36/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.5757543246400673e-05, + -5.983836092590168e-05, + 0.01199853110637633 + ], + "orientation": [ + 0.9999999999999993, + -3.9401489508776676e-08, + -2.3556280808446132e-08, + 1.188128570618143e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21533578231870346, + 0.14862123607111935, + 0.777998288356255 + ], + "orientation": [ + 0.7071067809651982, + -4.440463689929179e-08, + 1.1220074615712522e-08, + 0.7071067814078957 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21537073064074633, + 0.14867972050229103, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.499999999999142 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07247278615446587, + 0.13104481070815988, + 0.7779982964707685 + ], + "orientation": [ + 0.7071067809651954, + -4.440463689328055e-08, + 1.122007461667709e-08, + 0.7071067814078984 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07250773460309307, + 0.13110329530726372, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920897, + -0.5000000000008573, + 0.5000000000007903, + 0.49999999999914296 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07216478914972488, + 0.08008388320177592, + 0.7779983072992827 + ], + "orientation": [ + 0.7071067809651919, + -4.440463688516266e-08, + 1.1220074618055805e-08, + 0.7071067814079022 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07212984052513326, + 0.08014236803675771, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker queen of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example36/input/input.png b/M&T/select_poker/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3797e7a7bf5db53416f9dcefddff60e9256081e2 --- /dev/null +++ b/M&T/select_poker/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c508fc8f86cc153a99eb71ed8b0feb94a1d964d7de06dbf069c703dd9e2cb95f +size 921429 diff --git a/M&T/select_poker/example36/input/input_mask.png b/M&T/select_poker/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..73e99049d626317ca073a4c1d72e6ec14e5359f0 --- /dev/null +++ b/M&T/select_poker/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5660a4ee23555fbe3bd491f914fb356fa470f70f2b47224bf650875566a28bc6 +size 821879 diff --git a/M&T/select_poker/example36/input/instruction.txt b/M&T/select_poker/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9f0e42f1a4bd8e69142ec69f645ba944f618a84 --- /dev/null +++ b/M&T/select_poker/example36/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker queen of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example36/output/operation_sequence.json b/M&T/select_poker/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example36/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example37/env_config/env_config.json b/M&T/select_poker/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4e0e73e37b24b228bc0ba1021c1af37f671e9b41 --- /dev/null +++ b/M&T/select_poker/example37/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9887656579096475e-05, + -2.995633492929023e-05, + 0.011998530717084527 + ], + "orientation": [ + 0.9999999999999993, + -1.9717148724251685e-08, + -1.9673955560482224e-08, + 1.88152146861644e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16803907168564736, + 0.14471436756173625, + 0.7779982975077767 + ], + "orientation": [ + 0.7071067811174465, + -2.7775429565322385e-08, + 6.007835542264046e-11, + 0.7071067812556489 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16806828318865932, + 0.14474364622288882, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008578, + 0.5000000000007909, + 0.4999999999991422 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06233250432320816, + 0.013202403035359479, + 0.7779983068518055 + ], + "orientation": [ + 0.7071067811174446, + -2.7775429560231373e-08, + 6.007835753580321e-11, + 0.7071067812556506 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06236171594914794, + 0.013231681810166426, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992093, + -0.5000000000008569, + 0.5000000000007896, + 0.4999999999991432 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.050772600844239714, + 0.02194999946583149, + 0.7779983109566911 + ], + "orientation": [ + 0.7071067811174447, + -2.777542955807939e-08, + 6.007835820033871e-11, + 0.7071067812556507 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05074338916698938, + 0.021979278287869296, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920414, + -0.5000000000008625, + 0.5000000000007955, + 0.4999999999991379 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example37/input/input.png b/M&T/select_poker/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..91a87ffbe622a0e3c39d734f3d2de6263e24da4b --- /dev/null +++ b/M&T/select_poker/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb1d11c7cce68afd6270dd00531b3b84bb5fe11c3860390040c5a1c6ed477d99 +size 925781 diff --git a/M&T/select_poker/example37/input/input_mask.png b/M&T/select_poker/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3cf5d150e496747f865f9def85bb5c43cf39bd04 --- /dev/null +++ b/M&T/select_poker/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a1241616f625843911f12f1c2ac6b2c564c86540becad1bf6a26e0b72c8e911 +size 823530 diff --git a/M&T/select_poker/example37/input/instruction.txt b/M&T/select_poker/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16600b41e3b3b3bcf1ab6864c53146413d2928d9 --- /dev/null +++ b/M&T/select_poker/example37/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of spades \ No newline at end of file diff --git a/M&T/select_poker/example37/output/operation_sequence.json b/M&T/select_poker/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example37/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example38/env_config/env_config.json b/M&T/select_poker/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcd9ed5b9935952c9a900394a41194f58b55d63 --- /dev/null +++ b/M&T/select_poker/example38/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.0034841847580913e-06, + -7.133996940168081e-05, + 0.011998491029374265 + ], + "orientation": [ + 0.9999999999999991, + -4.664410165592907e-08, + 1.311922864154273e-09, + -2.4009850751598025e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17738736131828317, + 0.0801873904503225, + 0.7779982631238819 + ], + "orientation": [ + 0.7071067812135442, + -3.200074284756332e-08, + 3.3848917173241826e-08, + 0.7071067811595496 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17738540295481553, + 0.0802571242670724, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999216, + -0.5000000000008501, + 0.5000000000007839, + 0.49999999999914907 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05062370866199461, + 0.15226232023194033, + 0.7779982560685764 + ], + "orientation": [ + 0.7071067812135445, + -3.200074284990708e-08, + 3.384891717604473e-08, + 0.7071067811595493 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.050621750308221136, + 0.1523320538423788, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07378919853073579, + 0.07659515791254436, + 0.7779982627999942 + ], + "orientation": [ + 0.7071067812135441, + -3.2000742847766716e-08, + 3.384891717336235e-08, + 0.7071067811595495 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07379115689411521, + 0.07666489173251231, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920314, + -0.5000000000008631, + 0.5000000000007961, + 0.499999999999137 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16649991124227406, + 0.12353424365866085, + 0.7779982581785558 + ], + "orientation": [ + 0.7071067812135442, + -3.2000742849282455e-08, + 3.3848917175108396e-08, + 0.7071067811595494 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.16650186959931765, + 0.12360397734398847, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921035, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991444 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example38/input/input.png b/M&T/select_poker/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7d1282c3a3ed806964ac02fc0ef4ac2cf5e9ce47 --- /dev/null +++ b/M&T/select_poker/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e290d6f2f6944ac66887d4f76a5306c06181f5ab089cd59ef4436a3d28342a90 +size 993070 diff --git a/M&T/select_poker/example38/input/input_mask.png b/M&T/select_poker/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4691a54fb079ded10ff3ecb8c366ec00bb9771c7 --- /dev/null +++ b/M&T/select_poker/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb228fef3cffab196a3123927b5a27c21536b93618095c9d2541f7e746a44a4c +size 890373 diff --git a/M&T/select_poker/example38/input/instruction.txt b/M&T/select_poker/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..40312ee4351e44ea20272ef9bfa57bf1ea26d068 --- /dev/null +++ b/M&T/select_poker/example38/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of clubs \ No newline at end of file diff --git a/M&T/select_poker/example38/output/operation_sequence.json b/M&T/select_poker/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example38/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example39/env_config/env_config.json b/M&T/select_poker/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b4e42f45f494de211e0a43f376d3cad357eb7e3d --- /dev/null +++ b/M&T/select_poker/example39/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.1296342696562365e-06, + -7.201062716872282e-05, + 0.011998491045184504 + ], + "orientation": [ + 0.9999999999999986, + -4.7087025287321816e-08, + -4.006475175017029e-09, + -2.6612116910813926e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2125830936788239, + 0.031811361908413965, + 0.777998265455054 + ], + "orientation": [ + 0.707106781179883, + -3.605952811200904e-08, + 3.041543760402763e-08, + 0.7071067811932104 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21258908529804524, + 0.031881751341862344, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06125245029409537, + 0.15251587703093655, + 0.7779982553019272 + ], + "orientation": [ + 0.7071067811798845, + -3.605952811646227e-08, + 3.0415437607031226e-08, + 0.7071067811932091 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0612584418939158, + 0.15258626616387228, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008565, + 0.5000000000007893, + 0.4999999999991436 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06515832806815233, + 0.1811041563735744, + 0.7779982536228247 + ], + "orientation": [ + 0.7071067811798847, + -3.6059528117149396e-08, + 3.041543760753556e-08, + 0.707106781193209 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06515233647104612, + 0.18117454546262207, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992082, + -0.5000000000008578, + 0.5000000000007908, + 0.49999999999914224 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.17165686924483742, + 0.0715076322423023, + 0.7779982647956886 + ], + "orientation": [ + 0.7071067811798843, + -3.605952811216232e-08, + 3.041543760432383e-08, + 0.7071067811932091 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17165087762505052, + 0.07157802167768909, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008602, + 0.5000000000007933, + 0.4999999999991403 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example39/input/input.png b/M&T/select_poker/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..728e3279e12ec0715f4a056d3139384cf3e6f36d --- /dev/null +++ b/M&T/select_poker/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dbda04f11b5507d67891c016e7d25c33f1c4802713b28e91886af47460ab3f4 +size 993002 diff --git a/M&T/select_poker/example39/input/input_mask.png b/M&T/select_poker/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b7d353f4937b9d0c75b51382fb4cfb3fa9a17757 --- /dev/null +++ b/M&T/select_poker/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9123a82bcd8b69f3f0ce4e72f9d9475e5a1627dd36ba2da3a3aed0e32bcf5bc +size 892681 diff --git a/M&T/select_poker/example39/input/instruction.txt b/M&T/select_poker/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc7719fde54a7319ff5425b551af4e77a17de869 --- /dev/null +++ b/M&T/select_poker/example39/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of spades \ No newline at end of file diff --git a/M&T/select_poker/example39/output/operation_sequence.json b/M&T/select_poker/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example39/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example4/env_config/env_config.json b/M&T/select_poker/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e94121a525d9c3a8bffcb23fdb0a4338c12f03ce --- /dev/null +++ b/M&T/select_poker/example4/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.385907693696864e-05, + -2.813201151718036e-05, + 0.011998530735732399 + ], + "orientation": [ + 0.999999999999999, + -1.8515281839520732e-08, + -2.229020851784479e-08, + 3.8270905383850946e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21445090742218584, + 0.04568034504418965, + 0.7779982985928849 + ], + "orientation": [ + 0.7071067810991334, + -2.8769871245874607e-08, + -2.6310917919495292e-09, + 0.7071067812739616 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2144840005157105, + 0.04570784067288792, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992091, + -0.5000000000008571, + 0.5000000000007901, + 0.49999999999914313 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06285983895408388, + 0.11671860144956266, + 0.7779983027196795 + ], + "orientation": [ + 0.7071067810991338, + -2.8769871243768026e-08, + -2.631091790939262e-09, + 0.7071067812739611 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06289293210059156, + 0.11674609711468889, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920913, + -0.5000000000008571, + 0.50000000000079, + 0.4999999999991431 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0737130808529506, + 0.006408782493021341, + 0.777998312891474 + ], + "orientation": [ + 0.7071067835497876, + -2.8769590662653453e-08, + -2.6310359396719275e-09, + 0.7071067788233069 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07367998804941468, + 0.006436277971221177, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920375, + -0.5000000000008626, + 0.5000000000007955, + 0.4999999999991371 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example4/input/input.png b/M&T/select_poker/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ed06d8632a1b1ad781ab1e42529ab2a76224b9b2 --- /dev/null +++ b/M&T/select_poker/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:089bfaf61bac3e932e3edef7615e8a97722dfecdab01b3e109952fe5f5092eef +size 905886 diff --git a/M&T/select_poker/example4/input/input_mask.png b/M&T/select_poker/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9428b174890c5baf56ff765dad750cc0a8b7567b --- /dev/null +++ b/M&T/select_poker/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b021c64f327afe0da2521c90f4605db2e316e596725aba5ec0c1f0fd4a6415f +size 805928 diff --git a/M&T/select_poker/example4/input/instruction.txt b/M&T/select_poker/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..497a517f6d854aa87b6baa1acfbe1d3738fd40c4 --- /dev/null +++ b/M&T/select_poker/example4/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of clubs \ No newline at end of file diff --git a/M&T/select_poker/example4/output/operation_sequence.json b/M&T/select_poker/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example4/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example40/env_config/env_config.json b/M&T/select_poker/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d72ca1b5e5dc007810d25579adcb981a779fae --- /dev/null +++ b/M&T/select_poker/example40/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.949929331433185e-05, + -7.983266064872098e-05, + 0.011998531499075444 + ], + "orientation": [ + 0.9999999999999986, + -5.259203709371711e-08, + -2.6033343621475987e-08, + 1.277164255770084e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22262506438286347, + 0.1623194259629617, + 0.7779982819378926 + ], + "orientation": [ + 0.7071067808964253, + -5.5460234764344165e-08, + 1.8786141403502447e-08, + 0.7071067814766674 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2226636695626593, + 0.1623974519663722, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992078, + -0.5000000000008584, + 0.5000000000007914, + 0.4999999999991417 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06971558186965557, + 0.1359309221539613, + 0.7779982926734418 + ], + "orientation": [ + 0.7071067808964181, + -5.5460234754692185e-08, + 1.878614140429196e-08, + 0.7071067814766755 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06975418723505035, + 0.13600894847604517, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008583, + 0.5000000000007911, + 0.4999999999991419 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05395328454829345, + 0.18254691726445035, + 0.7779982942089821 + ], + "orientation": [ + 0.7071067808964185, + -5.546023475336627e-08, + 1.8786141404439312e-08, + 0.7071067814766754 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05391467917022018, + 0.18262494360409764, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example40/input/input.png b/M&T/select_poker/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9efcb26005c2fc2d848ba69f19f15652b48d4227 --- /dev/null +++ b/M&T/select_poker/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:475d26f16da28f9f0257cd4480846784f6b323b29af970e1de9ffafe533efa10 +size 989919 diff --git a/M&T/select_poker/example40/input/input_mask.png b/M&T/select_poker/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3c5d71e103b5f04abd395702bfbabdcc664abc51 --- /dev/null +++ b/M&T/select_poker/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24cc5afb8246275d8dfc41062fd7703197b70468175cfbaf603c3003c4464658 +size 892917 diff --git a/M&T/select_poker/example40/input/instruction.txt b/M&T/select_poker/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1141a515b74f1b194534b2c506a86533dc06625 --- /dev/null +++ b/M&T/select_poker/example40/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example40/output/operation_sequence.json b/M&T/select_poker/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example40/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example41/env_config/env_config.json b/M&T/select_poker/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3e41a97d991a89e443021d1e11e765faf36755a0 --- /dev/null +++ b/M&T/select_poker/example41/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.9173025363531e-06, + -4.340727986359196e-05, + 0.011998490646406453 + ], + "orientation": [ + 0.9999999999999996, + -2.8369088783773366e-08, + 2.558158420490849e-09, + 1.6017784723150036e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15369092826778663, + 0.1299161551596672, + 0.7779982631753167 + ], + "orientation": [ + 0.7071067811847257, + -1.8223089394350928e-08, + 2.1826867542763163e-08, + 0.7071067811883687 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15368709915438525, + 0.12995858522086173, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920886, + -0.5000000000008574, + 0.50000000000079, + 0.4999999999991427 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05473347447573894, + 0.06174872325584587, + 0.7779982665362178 + ], + "orientation": [ + 0.7071067811847276, + -1.822308939374861e-08, + 2.182686754194615e-08, + 0.7071067811883669 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.054729645359116987, + 0.061791153375351945, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914196 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07046240634344215, + 0.010881009719722742, + 0.7779982687814854 + ], + "orientation": [ + 0.7071067811847271, + -1.8223089393357554e-08, + 2.1826867541296562e-08, + 0.7071067811883673 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07046623546203214, + 0.010923439876146544, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16151159008118893, + 0.06021963090762834, + 0.7779982655167484 + ], + "orientation": [ + 0.707106781184726, + -1.822308939385841e-08, + 2.1826867542251843e-08, + 0.7071067811883687 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.16151541919606785, + 0.06026206100095067, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992078, + -0.5000000000008585, + 0.5000000000007916, + 0.49999999999914174 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example41/input/input.png b/M&T/select_poker/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e25e412e407404e64816d6209ed22c63d294afe8 --- /dev/null +++ b/M&T/select_poker/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7cc27031238f2e4b6ad6fac7ac32f6de783aa7e4b7052dacdc3f2e0fbf6e649 +size 909076 diff --git a/M&T/select_poker/example41/input/input_mask.png b/M&T/select_poker/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..715e9afb924ea9d635d18e4903f000185c0d0d5a --- /dev/null +++ b/M&T/select_poker/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0df7ad7348338281884417a9af0216a8b89d3087a2709fa0ea3f887f13eb66b +size 804987 diff --git a/M&T/select_poker/example41/input/instruction.txt b/M&T/select_poker/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b62d17f49df33b3582aee7c8182f3200b36050b1 --- /dev/null +++ b/M&T/select_poker/example41/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example41/output/operation_sequence.json b/M&T/select_poker/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example41/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example42/env_config/env_config.json b/M&T/select_poker/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8c6a1207dbcdd76f13ca9c27236029937826299c --- /dev/null +++ b/M&T/select_poker/example42/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.122113753642176e-07, + -6.862454606706078e-05, + 0.011998490983432092 + ], + "orientation": [ + 0.9999999999999998, + -4.486827682094427e-08, + -3.9936742330295284e-10, + -1.172702202100301e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2124827380844514, + 0.09199544222841134, + 0.7779982616686874 + ], + "orientation": [ + 0.7071067811929119, + -3.195262433462836e-08, + 3.139002280892536e-08, + 0.7071067811801816 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21248333651384632, + 0.09206252172395987, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.49999999999914374 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07135312683085532, + 0.15079066686328477, + 0.7779982565060951 + ], + "orientation": [ + 0.707106781192911, + -3.1952624336492654e-08, + 3.1390022810570553e-08, + 0.7071067811801822 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07135372526039604, + 0.15085774621256376, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920824, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991422 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05916966971039319, + 0.029988672048225067, + 0.7779982674490846 + ], + "orientation": [ + 0.7071067811929115, + -3.1952624332747775e-08, + 3.139002280680833e-08, + 0.7071067811801832 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.059169071281064876, + 0.03005575171840252, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999919764, + -0.500000000000869, + 0.5000000000008025, + 0.4999999999991312 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2210253019002566, + 0.14338957078693326, + 0.7779982574036441 + ], + "orientation": [ + 0.7071067811929108, + -3.1952624336311144e-08, + 3.139002281009628e-08, + 0.7071067811801826 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.22102470347066996, + 0.14345665016964626, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913763 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example42/input/input.png b/M&T/select_poker/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..80c279b7f349d92dc94404a1ec864e212c13fdbc --- /dev/null +++ b/M&T/select_poker/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:318422085d6a1f7560d460065d3a6b5547d457b540ab0480abda66f0dd3e0382 +size 922114 diff --git a/M&T/select_poker/example42/input/input_mask.png b/M&T/select_poker/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0b61f806d7fec5b0c02c0dd6c5fdc7c1294f462d --- /dev/null +++ b/M&T/select_poker/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fe0aca01c94c300b5e631c621d6fce062bbf58fc7f6451ec623a0c92b03c599 +size 819176 diff --git a/M&T/select_poker/example42/input/instruction.txt b/M&T/select_poker/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1141a515b74f1b194534b2c506a86533dc06625 --- /dev/null +++ b/M&T/select_poker/example42/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example42/output/operation_sequence.json b/M&T/select_poker/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example42/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example43/env_config/env_config.json b/M&T/select_poker/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4a71ee549af161ceafce8785fe11878fdac3d9 --- /dev/null +++ b/M&T/select_poker/example43/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.436040519529145e-05, + -5.1459904099699264e-05, + 0.011998530975093166 + ], + "orientation": [ + 0.9999999999999987, + -3.387603345572418e-08, + -2.2625103846312905e-08, + 5.7797532677797985e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21785475880420746, + 0.03836505012505527, + 0.7779982976244898 + ], + "orientation": [ + 0.7071067810343724, + -3.9848460822401634e-08, + 7.97572274645009e-09, + 0.7071067813387218 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2178883418136486, + 0.038415345881133746, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06149694556476429, + 0.1541971012359862, + 0.7779982968519673 + ], + "orientation": [ + 0.7071067810343725, + -3.984846082291916e-08, + 7.975722746406507e-09, + 0.7071067813387217 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.061530528548616334, + 0.1542473969558607, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07273108927785753, + 0.11639335635576133, + 0.7779983054858153 + ], + "orientation": [ + 0.7071067810343694, + -3.9848460816792145e-08, + 7.97572274777737e-09, + 0.7071067813387243 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0726975061644133, + 0.11644365224609464, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example43/input/input.png b/M&T/select_poker/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ce1fe6e3ed2188dbf8d3780781c30762f3285878 --- /dev/null +++ b/M&T/select_poker/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af4d238f0a022b3003b7966c0c0a3c4fe8dedb530cafc95a8622866fde934827 +size 921828 diff --git a/M&T/select_poker/example43/input/input_mask.png b/M&T/select_poker/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f7958ee3eecf4613b64001ca89d9d1213febc280 --- /dev/null +++ b/M&T/select_poker/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b474363cf21fa1eceb881833f37c60290e6404cb38356600d9e19f4ecaa730e +size 822695 diff --git a/M&T/select_poker/example43/input/instruction.txt b/M&T/select_poker/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c369e14e2591e1bf6b123a8280e82f6010009d2d --- /dev/null +++ b/M&T/select_poker/example43/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of hearts \ No newline at end of file diff --git a/M&T/select_poker/example43/output/operation_sequence.json b/M&T/select_poker/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example43/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example44/env_config/env_config.json b/M&T/select_poker/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a332aeac67853acb1a015e95c654a61f6f278938 --- /dev/null +++ b/M&T/select_poker/example44/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.454932994159647e-05, + -4.6258520356470684e-05, + 0.01199853091254793 + ], + "orientation": [ + 0.9999999999999987, + -3.045220522824021e-08, + -2.2751763606489895e-08, + 7.394199947231193e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2076157940460472, + 0.14149615806535337, + 0.7779982919557314 + ], + "orientation": [ + 0.7071067810324794, + -3.7520908785444175e-08, + 5.469720110216336e-09, + 0.707106781340615 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20764956161548542, + 0.14154137000771183, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008583, + 0.5000000000007911, + 0.4999999999991419 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06847687334308755, + 0.06069423477081173, + 0.7779983032065682 + ], + "orientation": [ + 0.7071067810324767, + -3.7520908777677565e-08, + 5.469720112392725e-09, + 0.7071067813406179 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06851064108900923, + 0.06073944691025656, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914063 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0680721795975814, + 0.07563840850394095, + 0.7779983085090796 + ], + "orientation": [ + 0.707106781032476, + -3.752090877419831e-08, + 5.469720113346988e-09, + 0.7071067813406184 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06803841177692323, + 0.07568362072497571, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example44/input/input.png b/M&T/select_poker/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f311123afed9e9cb5873980015ffda4a587f9aca --- /dev/null +++ b/M&T/select_poker/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d17b59868a57f03d5cde838de61b0e1cc8ea1edf3ff14b7293ef2313e1264505 +size 924403 diff --git a/M&T/select_poker/example44/input/input_mask.png b/M&T/select_poker/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ef0f3aa9a7e4eb5dac2756368f50af363bd6bec9 --- /dev/null +++ b/M&T/select_poker/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:594931425c1dd2401f0a4675ce59473c0a438efb61afb10077547d4e92fc5b84 +size 821957 diff --git a/M&T/select_poker/example44/input/instruction.txt b/M&T/select_poker/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db9f4b396a6a24cbc308adc4b536ac81721635ed --- /dev/null +++ b/M&T/select_poker/example44/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example44/output/operation_sequence.json b/M&T/select_poker/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example44/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example45/env_config/env_config.json b/M&T/select_poker/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1053124419903288e29ccac532ac73bedb40ed2f --- /dev/null +++ b/M&T/select_poker/example45/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.7774154418371653e-05, + -2.6191814512402133e-05, + 0.011998530674826115 + ], + "orientation": [ + 1.0, + -1.7235994016023337e-08, + -1.828107542804203e-08, + 2.471612753247344e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17103746291137956, + 0.06706098200168618, + 0.7779983012188816 + ], + "orientation": [ + 0.7071067811232231, + -2.50429512212235e-08, + -7.101981710589961e-10, + 0.707106781249871 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1710646087792581, + 0.06708658135635659, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008574, + 0.5000000000007904, + 0.49999999999914274 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06355553198351101, + 0.06552878084634588, + 0.7779983052008796 + ], + "orientation": [ + 0.707106781123224, + -2.5042951219305862e-08, + -7.101981702784208e-10, + 0.707106781249871 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06358267789804846, + 0.06555438023924938, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920913, + -0.5000000000008571, + 0.50000000000079, + 0.4999999999991431 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06777463552155275, + 0.024461839187885928, + 0.7779983114173302 + ], + "orientation": [ + 0.7071067811232221, + -2.5042951216482095e-08, + -7.101981690840947e-10, + 0.7071067812498734 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06774748953211536, + 0.024487438642417425, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992045, + -0.5000000000008623, + 0.5000000000007954, + 0.4999999999991383 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example45/input/input.png b/M&T/select_poker/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..be76833aa453367b1580e1bfc6186c5563968db6 --- /dev/null +++ b/M&T/select_poker/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e146cba635692a1b7b22042d538585e52ecc1b83663f269af2b40ed5fadcbfef +size 992891 diff --git a/M&T/select_poker/example45/input/input_mask.png b/M&T/select_poker/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..92f5facd80302ad30b8e06431000f0908d0b7876 --- /dev/null +++ b/M&T/select_poker/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c4d243430754c90fbf0a0bd361b2aee8127bc4771adf66e7d3b0a583977c57f +size 893066 diff --git a/M&T/select_poker/example45/input/instruction.txt b/M&T/select_poker/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..75fcaf85a44d77a85aefdfad05f9e9e767e10fd0 --- /dev/null +++ b/M&T/select_poker/example45/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of hearts \ No newline at end of file diff --git a/M&T/select_poker/example45/output/operation_sequence.json b/M&T/select_poker/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example45/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example46/env_config/env_config.json b/M&T/select_poker/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..811076f3a5cba83181f3811b6d58fe5aa0ae9227 --- /dev/null +++ b/M&T/select_poker/example46/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.83255046156947e-06, + -8.275313959998607e-05, + 0.011998491248313077 + ], + "orientation": [ + 0.999999999999999, + -5.412516592666191e-08, + -5.132796678482076e-09, + 1.3508434825114624e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18949273471569378, + 0.1392644507484817, + 0.7779982533363073 + ], + "orientation": [ + 0.7071067810441707, + -4.1820955510328626e-08, + 3.459010121478396e-08, + 0.707106781328923 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1895003907951229, + 0.13934534044234892, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992053, + -0.5000000000008619, + 0.5000000000007947, + 0.49999999999913913 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07130437438357218, + 0.13712474301229774, + 0.7779982547809919 + ], + "orientation": [ + 0.7071067810441715, + -4.182095550966032e-08, + 3.459010121426452e-08, + 0.7071067813289225 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07131203046839656, + 0.13720563272231565, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05339532407490759, + 0.19826722731623878, + 0.7779982494432035 + ], + "orientation": [ + 0.7071067810441718, + -4.182095551256015e-08, + 3.459010121585466e-08, + 0.7071067813289224 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05338766802550892, + 0.19834811680322595, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.50000000000086, + 0.5000000000007929, + 0.4999999999991409 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.15918532810716207, + 0.028042102081276717, + 0.7779982689532424 + ], + "orientation": [ + 0.7071067810441678, + -4.182095550252068e-08, + 3.459010120969254e-08, + 0.707106781328926 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.15917767194377538, + 0.028122992220056157, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920514, + -0.5000000000008619, + 0.5000000000007951, + 0.49999999999913897 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example46/input/input.png b/M&T/select_poker/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..879e0e150686fe85dca4a0c12d153ffc23b3f3b5 --- /dev/null +++ b/M&T/select_poker/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bbaa89e29e6d179144012edc844538ed5e3ffcd654acec64e51fd3d1d9eb074 +size 906961 diff --git a/M&T/select_poker/example46/input/input_mask.png b/M&T/select_poker/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8dc0a421810f1cee73edbc491b66d149b6af3762 --- /dev/null +++ b/M&T/select_poker/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc085f5f1fa0f79a00ae86f6c69ca565ac89f074996a37fd21eafd9cd4c4eafd +size 805514 diff --git a/M&T/select_poker/example46/input/instruction.txt b/M&T/select_poker/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..98421b4f94d1dedcfa2cfae6ad7ae5e5e8201526 --- /dev/null +++ b/M&T/select_poker/example46/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of spades \ No newline at end of file diff --git a/M&T/select_poker/example46/output/operation_sequence.json b/M&T/select_poker/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example46/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example47/env_config/env_config.json b/M&T/select_poker/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..428d0b2d4adb9fd87912916d54a086b0770b9afe --- /dev/null +++ b/M&T/select_poker/example47/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.3547234088678966e-05, + -5.218463284698252e-05, + 0.011998530905160776 + ], + "orientation": [ + 0.9999999999999984, + -3.4352702057188714e-08, + -1.5507326986442304e-08, + 6.04641799283088e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1605209913672406, + 0.17040620423963557, + 0.7779982933268758 + ], + "orientation": [ + 0.7071067810653422, + -3.517141359133935e-08, + 1.3325708184230658e-08, + 0.7071067813077526 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1605440057875334, + 0.17045720825293426, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008579, + 0.500000000000791, + 0.49999999999914213 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05371630407176795, + 0.08315327166398716, + 0.7779983026327542 + ], + "orientation": [ + 0.7071067810653409, + -3.5171413585822955e-08, + 1.3325708184331633e-08, + 0.7071067813077538 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0537393185956549, + 0.08320427586795198, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999209, + -0.5000000000008573, + 0.5000000000007901, + 0.49999999999914296 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07242067527099777, + 0.05988814574709658, + 0.7779983081424717 + ], + "orientation": [ + 0.7071067810653388, + -3.517141358274165e-08, + 1.3325708184684611e-08, + 0.7071067813077558 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07239766068947201, + 0.0599391500557611, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991395 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example47/input/input.png b/M&T/select_poker/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c4a9f51d4d24ed3ae373752a5f2777abed73da62 --- /dev/null +++ b/M&T/select_poker/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0add9e8e3f1cdb62341e69161f59e8eac4a4edcef50cc830722a8e8cc5825743 +size 924215 diff --git a/M&T/select_poker/example47/input/input_mask.png b/M&T/select_poker/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..769f470f3cf53d04bbbc170674c3c2ef97e65895 --- /dev/null +++ b/M&T/select_poker/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93befd25ec3714dbcc9c4f65bef64c6272373897863eb864ce2946803f10c462 +size 822087 diff --git a/M&T/select_poker/example47/input/instruction.txt b/M&T/select_poker/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7a72250e50dc65a403b0ec605a299bb09917270b --- /dev/null +++ b/M&T/select_poker/example47/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example47/output/operation_sequence.json b/M&T/select_poker/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example47/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example48/env_config/env_config.json b/M&T/select_poker/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..aa105179dd4a4a78d2597c49815aa8fe2da04c21 --- /dev/null +++ b/M&T/select_poker/example48/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.3387975676513734e-05, + -6.928401763031261e-05, + 0.011998531240258797 + ], + "orientation": [ + 0.9999999999999994, + -4.562640400379579e-08, + -2.1989939870380352e-08, + 1.2960421378589579e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1930627402565648, + 0.061892297635509234, + 0.777998296205676 + ], + "orientation": [ + 0.7071067810351694, + -4.7695319664741164e-08, + 1.67173643676865e-08, + 0.7071067813379243 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19309537275850894, + 0.06196001415608454, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920647, + -0.5000000000008603, + 0.5000000000007933, + 0.49999999999914035 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07212815121550592, + 0.1609274651685492, + 0.7779982924876787 + ], + "orientation": [ + 0.7071067810351699, + -4.769531966772427e-08, + 1.6717364367313333e-08, + 0.7071067813379235 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07216078366243578, + 0.16099518157727072, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992079, + -0.5000000000008583, + 0.5000000000007913, + 0.49999999999914185 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06444039181345078, + 0.19385554648797007, + 0.7779982954887218 + ], + "orientation": [ + 0.7071067810351696, + -4.769531966543339e-08, + 1.671736436736418e-08, + 0.707106781337924 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06440775932527153, + 0.19392326298042817, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008583, + 0.500000000000791, + 0.4999999999991418 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example48/input/input.png b/M&T/select_poker/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bf60304baec1b4836498d4cb7aee0d80d0565530 --- /dev/null +++ b/M&T/select_poker/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5343e9e005957691b8f355b9aed1bfc9ca1a01ec07b3af2260bd723e95cfbeb +size 990390 diff --git a/M&T/select_poker/example48/input/input_mask.png b/M&T/select_poker/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..34095ff09d3665b276136397a762dd9ad7ea0775 --- /dev/null +++ b/M&T/select_poker/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b89d0fb428df36b1dc55ad48fe6458c33a73ef65e2f8fa10e33cb1cad1d3035 +size 893356 diff --git a/M&T/select_poker/example48/input/instruction.txt b/M&T/select_poker/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d4c986e52fa2ddd7819b34d4428769c305203e57 --- /dev/null +++ b/M&T/select_poker/example48/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example48/output/operation_sequence.json b/M&T/select_poker/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example48/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example49/env_config/env_config.json b/M&T/select_poker/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bb7bf532944bfe88b5f09a5e3c99e042cd2c1e80 --- /dev/null +++ b/M&T/select_poker/example49/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.8420202082903324e-05, + -8.3596736264609e-05, + 0.011998531480534756 + ], + "orientation": [ + 0.9999999999999983, + -5.506897070365545e-08, + -1.8730978219949655e-08, + 8.933866815574405e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1620741984239957, + 0.18976009962856122, + 0.7779982836126506 + ], + "orientation": [ + 0.707106780973204, + -5.206507905564853e-08, + 2.5678089008319996e-08, + 0.7071067813998888 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16210197530812934, + 0.18984180459225178, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921013, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914385 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0710804235594797, + 0.14839160291972725, + 0.7779982915765157 + ], + "orientation": [ + 0.707106780973201, + -5.2065079049448406e-08, + 2.56780890076062e-08, + 0.7071067813998919 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0711082005467693, + 0.1484733081461442, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008565, + 0.5000000000007895, + 0.4999999999991435 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.061663918235335506, + 0.16531955860557498, + 0.7779982946845077 + ], + "orientation": [ + 0.7071067809732002, + -5.206507904695899e-08, + 2.5678089007365546e-08, + 0.7071067813998929 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06163614121415734, + 0.16540126391579793, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992058, + -0.5000000000008613, + 0.5000000000007941, + 0.49999999999913963 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker queen of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example49/input/input.png b/M&T/select_poker/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c0e35ebae78890a0e6abd5453603ad6e25771edb --- /dev/null +++ b/M&T/select_poker/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7419893e285fbf19183546aa9766cc8374c15fcc87a12795fc75ed7d67fee08 +size 904794 diff --git a/M&T/select_poker/example49/input/input_mask.png b/M&T/select_poker/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..58a7d4adadfd77a1ef436a5e05f2c7a18be3c8aa --- /dev/null +++ b/M&T/select_poker/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:168daf3c95b23e923478f428e6e5817829104504f1c41515fc59d9e4f01767f6 +size 807075 diff --git a/M&T/select_poker/example49/input/instruction.txt b/M&T/select_poker/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..44661de62d07f6dd3628688cb93a2e2d12f0b064 --- /dev/null +++ b/M&T/select_poker/example49/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker queen of hearts \ No newline at end of file diff --git a/M&T/select_poker/example49/output/operation_sequence.json b/M&T/select_poker/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example49/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example5/env_config/env_config.json b/M&T/select_poker/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab37d53b04902dd76de95368679d033cc7d2bf7 --- /dev/null +++ b/M&T/select_poker/example5/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1080547846704916e-06, + -0.00010125786548285727, + 0.011998491652977818 + ], + "orientation": [ + 0.9999999999999978, + -6.625360413733785e-08, + -2.0243511968911743e-09, + -1.7981088274408094e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16930405253443845, + 0.07721243580051354, + 0.7779982598396241 + ], + "orientation": [ + 0.7071067813042483, + -4.819255623536066e-08, + 4.534081289357868e-08, + 0.7071067810688438 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16930709062839885, + 0.07731141357480538, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920824, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991422 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06538599493018833, + 0.15891756688110126, + 0.7779982494353765 + ], + "orientation": [ + 0.7071067813042479, + -4.819255624095345e-08, + 4.534081289853671e-08, + 0.7071067810688428 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06538903304206724, + 0.1590165442504159, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0664687083667896, + 0.19137429086590044, + 0.7779982456690235 + ], + "orientation": [ + 0.7071067813042489, + -4.8192556242882784e-08, + 4.534081290024619e-08, + 0.707106781068843 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06646567024730907, + 0.19147326812510893, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008531, + 0.5000000000007864, + 0.4999999999991468 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1500500260983038, + 0.18843090893125986, + 0.7779982463973308 + ], + "orientation": [ + 0.7071067813042489, + -4.8192556242452875e-08, + 4.53408128998306e-08, + 0.707106781068843 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1500469879790026, + 0.18852988625400047, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913763 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example5/input/input.png b/M&T/select_poker/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a660be193fff6761842ffb64c890330015630a8c --- /dev/null +++ b/M&T/select_poker/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3041d785cb7a2189cc6bcfa2544d9f044d59f5302ef58dfe79923b8b876d2ec6 +size 991839 diff --git a/M&T/select_poker/example5/input/input_mask.png b/M&T/select_poker/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..09c94ff633dc460c9191df6f0ae8cb120cf4ba89 --- /dev/null +++ b/M&T/select_poker/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d817fff5644e9f5f15e974723a2ecbef3ffed0cc61123f645ab35a1a249ca96d +size 890518 diff --git a/M&T/select_poker/example5/input/instruction.txt b/M&T/select_poker/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db9f4b396a6a24cbc308adc4b536ac81721635ed --- /dev/null +++ b/M&T/select_poker/example5/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example5/output/operation_sequence.json b/M&T/select_poker/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example5/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example50/env_config/env_config.json b/M&T/select_poker/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..17f84c34805856211dbc8e9dfa9839e8662b4334 --- /dev/null +++ b/M&T/select_poker/example50/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.233203479588868e-08, + -0.00010650460576865874, + 0.011998491783863606 + ], + "orientation": [ + 0.9999999999999972, + -6.969624082160273e-08, + 3.9152273916163186e-11, + 3.173655441597864e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2100586791705001, + 0.19327125060915243, + 0.7779982439639925 + ], + "orientation": [ + 0.7071067811627899, + -4.916918352836043e-08, + 4.922433010559788e-08, + 0.7071067812103026 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21005861822723437, + 0.19337535631259084, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008583, + 0.5000000000007909, + 0.4999999999991419 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06681532318479319, + 0.1616569307645426, + 0.7779982483589247 + ], + "orientation": [ + 0.7071067811627894, + -4.91691835260056e-08, + 4.922433010340631e-08, + 0.707106781210303 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06681526224356789, + 0.1617610366559709, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06425680972082795, + 0.09419536083958295, + 0.7779982577509086 + ], + "orientation": [ + 0.70710678116279, + -4.9169183520869435e-08, + 4.922433009846648e-08, + 0.7071067812103022 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06425687065769921, + 0.09429946714471815, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008603, + 0.5000000000007934, + 0.49999999999914035 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.21287476556410442, + 0.19908571238512007, + 0.7779982431205078 + ], + "orientation": [ + 0.7071067811627899, + -4.916918352866529e-08, + 4.922433010632229e-08, + 0.7071067812103025 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.2128748265077448, + 0.1991898180216907, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992054, + -0.500000000000862, + 0.5000000000007947, + 0.49999999999913913 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example50/input/input.png b/M&T/select_poker/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1fc30dff84fabbdf9e594c4261a30673b81a15df --- /dev/null +++ b/M&T/select_poker/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f0b173e199045d275bd6b811b4ead0a9f21a6a6c810e48f71600c594b04e9eb +size 924642 diff --git a/M&T/select_poker/example50/input/input_mask.png b/M&T/select_poker/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..90c31f5fb5375d5733e3019a7e500e1d4c73f8fd --- /dev/null +++ b/M&T/select_poker/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e930ea23f96f37461e0c931169feab33a169bc7bf0a1b892fa4ef91cc4b4212 +size 821102 diff --git a/M&T/select_poker/example50/input/instruction.txt b/M&T/select_poker/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db9f4b396a6a24cbc308adc4b536ac81721635ed --- /dev/null +++ b/M&T/select_poker/example50/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example50/output/operation_sequence.json b/M&T/select_poker/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example50/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example51/env_config/env_config.json b/M&T/select_poker/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ad5f4c645f64fb2cec8d7dbb6833e7b756fba515 --- /dev/null +++ b/M&T/select_poker/example51/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.3402734021584615e-06, + -4.9807946043020363e-05, + 0.01199849071736559 + ], + "orientation": [ + 0.9999999999999996, + -3.2554915577471295e-08, + -2.179442771356207e-09, + -3.469677339457622e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17665023937422322, + 0.03451985316658008, + 0.7779982668122567 + ], + "orientation": [ + 0.7071067812028132, + -2.4514770409106985e-08, + 2.144451503400766e-08, + 0.7071067811702806 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1766535044542478, + 0.03456853984504687, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992078, + -0.5000000000008586, + 0.5000000000007916, + 0.49999999999914174 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05304402923558839, + 0.032166246308114675, + 0.7779982675041826 + ], + "orientation": [ + 0.7071067812028133, + -2.451477040892198e-08, + 2.144451503388788e-08, + 0.7071067811702806 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05304729431641616, + 0.03221493301039919, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992093, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0508275164077701, + 0.11063307802046941, + 0.777998262848673 + ], + "orientation": [ + 0.7071067812028121, + -2.451477041030482e-08, + 2.1444515034805535e-08, + 0.7071067811702817 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.050824251327666436, + 0.11068176463241286, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.15893458617924275, + 0.12429297239168016, + 0.7779982624305676 + ], + "orientation": [ + 0.7071067812028133, + -2.4514770410383467e-08, + 2.1444515034925414e-08, + 0.7071067811702803 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.15893132109870978, + 0.12434165900289201, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008581, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example51/input/input.png b/M&T/select_poker/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..118c49ab7f60d62db5544d563654e19959d2db80 --- /dev/null +++ b/M&T/select_poker/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b203b60cea08afcdc83060d8e76851b214bb23633430871b1b87b72bf3f0f965 +size 993420 diff --git a/M&T/select_poker/example51/input/input_mask.png b/M&T/select_poker/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a515ab3883713be2d10b65b0a2e7874f1465b211 --- /dev/null +++ b/M&T/select_poker/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d88e814b903a01e7422f7c6b01196882bb05eab97b60056246862dec69e29a1f +size 892406 diff --git a/M&T/select_poker/example51/input/instruction.txt b/M&T/select_poker/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d209eddb80f37d687a1e146a772e4a6d47dfb5c7 --- /dev/null +++ b/M&T/select_poker/example51/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of spades \ No newline at end of file diff --git a/M&T/select_poker/example51/output/operation_sequence.json b/M&T/select_poker/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example51/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example52/env_config/env_config.json b/M&T/select_poker/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5448c2b5ce63c3f1f7754587dc7ea417cd8c0d --- /dev/null +++ b/M&T/select_poker/example52/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.453978043402504e-05, + -4.2161234687040985e-05, + 0.011998530866577498 + ], + "orientation": [ + 0.9999999999999993, + -2.775398867357793e-08, + -2.274435219482873e-08, + 6.703023978025045e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2136222041722344, + 0.13741414054958273, + 0.7779982926301535 + ], + "orientation": [ + 0.7071067810464254, + -3.561109666817136e-08, + 3.5703489530355426e-09, + 0.707106781326669 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21365596243193422, + 0.1374553479227037, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992068, + -0.5000000000008601, + 0.5000000000007929, + 0.49999999999914085 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05923885754069578, + 0.06102808789801655, + 0.7779983038912173 + ], + "orientation": [ + 0.7071067810464227, + -3.56110966609118e-08, + 3.5703489552541126e-09, + 0.707106781326672 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05927261597515068, + 0.061069295448865926, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0649116375523998, + 0.05476565954286358, + 0.7779983098853883 + ], + "orientation": [ + 0.7071067810464203, + -3.5611096656835125e-08, + 3.570348956497097e-09, + 0.7071067813266738 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06487787902988618, + 0.054806867182261666, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920497, + -0.5000000000008622, + 0.5000000000007953, + 0.4999999999991387 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 6 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example52/input/input.png b/M&T/select_poker/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..65db7c1b294bc21608b9bb9c34bb45cdfd5c4ee1 --- /dev/null +++ b/M&T/select_poker/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2e04db2aaf4d90360c1424aceab590fae6dd4c0bc854e64bd95dc8a7873efd4 +size 923304 diff --git a/M&T/select_poker/example52/input/input_mask.png b/M&T/select_poker/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f968accc11b7cb84302e08bae33962bb5600c8c2 --- /dev/null +++ b/M&T/select_poker/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49902896f2b9974e3cf0d24e465af27b9f264e50407133408e0689736c7b6a50 +size 821410 diff --git a/M&T/select_poker/example52/input/instruction.txt b/M&T/select_poker/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c070d2176f448c301751fa9cf6184431c6b89bd --- /dev/null +++ b/M&T/select_poker/example52/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 6 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example52/output/operation_sequence.json b/M&T/select_poker/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example52/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example53/env_config/env_config.json b/M&T/select_poker/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..82f1aa967c2edbac82267cca4fde753fcaf2b55f --- /dev/null +++ b/M&T/select_poker/example53/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.27813189725199e-05, + -4.2764300690172915e-05, + 0.011998530857893683 + ], + "orientation": [ + 0.9999999999999998, + -2.814940689448843e-08, + -2.1583011184056377e-08, + 4.6380347343311e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1950531804639352, + 0.12612332240372193, + 0.7779982944460052 + ], + "orientation": [ + 0.7071067810654728, + -3.5072189675676166e-08, + 4.6674809504950874e-09, + 0.7071067813076217 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19508522008628468, + 0.12616511922570928, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008603, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07015056253038783, + 0.008925530402354396, + 0.7779983064338732 + ], + "orientation": [ + 0.7071067810654706, + -3.5072189668276565e-08, + 4.667480952541259e-09, + 0.707106781307624 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07018260232989129, + 0.008967327427846854, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992075, + -0.5000000000008586, + 0.5000000000007918, + 0.4999999999991414 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06808520123442019, + 0.12168480262106898, + 0.7779983060528046 + ], + "orientation": [ + 0.7071067810654709, + -3.507218966845308e-08, + 4.667480952526644e-09, + 0.7071067813076237 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06805316145143464, + 0.1217265996258937, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920625, + -0.5000000000008605, + 0.5000000000007937, + 0.4999999999991402 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example53/input/input.png b/M&T/select_poker/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..533d7ca0834701bde8d12128bb597f9bba84fe27 --- /dev/null +++ b/M&T/select_poker/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202554bef81a0e0569b257ae6eb2da37a021b1a379ee2c26fd8a3a38f699e1bc +size 921798 diff --git a/M&T/select_poker/example53/input/input_mask.png b/M&T/select_poker/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..01e15bc8f35a33b3b67f558cbad8f504148b0088 --- /dev/null +++ b/M&T/select_poker/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8983ac013776d46f7176c9250f6efc78a0de1a0d1197021e132168eb237e0fa +size 821476 diff --git a/M&T/select_poker/example53/input/instruction.txt b/M&T/select_poker/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1141a515b74f1b194534b2c506a86533dc06625 --- /dev/null +++ b/M&T/select_poker/example53/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example53/output/operation_sequence.json b/M&T/select_poker/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example53/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example54/env_config/env_config.json b/M&T/select_poker/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94cf0072469ed4212ca59f2ddd266540582d2334 --- /dev/null +++ b/M&T/select_poker/example54/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.087713090891815e-06, + -4.731889165341303e-05, + 0.01199849069506129 + ], + "orientation": [ + 1.0, + -3.092916147129212e-08, + -5.293040089954573e-09, + 5.6306115534178044e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21132691750389065, + 0.15171056514002643, + 0.7779982581873686 + ], + "orientation": [ + 0.7071067811203349, + -2.55603557138712e-08, + 1.810378088573828e-08, + 0.7071067812527588 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2113348230761657, + 0.15175681866123542, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007905, + 0.49999999999914224 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06744916567162369, + 0.004316451881070348, + 0.7779982688264494 + ], + "orientation": [ + 0.7071067811203327, + -2.556035571033559e-08, + 1.8103780884179538e-08, + 0.7071067812527614 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06745707129811586, + 0.004362705597808766, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007924, + 0.4999999999991412 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06018866627897776, + 0.06285461453189171, + 0.7779982665568969 + ], + "orientation": [ + 0.7071067811203339, + -2.5560355711107518e-08, + 1.8103780884523827e-08, + 0.7071067812527604 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06018076066733757, + 0.06290086818771645, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992055, + -0.5000000000008619, + 0.5000000000007948, + 0.49999999999913974 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16913906706954462, + 0.06776420779759777, + 0.77799826740643 + ], + "orientation": [ + 0.7071067811203351, + -2.5560355710979484e-08, + 1.8103780884311735e-08, + 0.7071067812527589 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.169131161455598, + 0.06781046145721589, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007916, + 0.49999999999914124 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 7 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example54/input/input.png b/M&T/select_poker/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..daefde438d51b950b8ac06eb256afd5c10eaa060 --- /dev/null +++ b/M&T/select_poker/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45cb8c5ffc79be690415d979742895900d1576ee997db8d2407c4f3f4e44b454 +size 994631 diff --git a/M&T/select_poker/example54/input/input_mask.png b/M&T/select_poker/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a94ecb2f0c7cfbdcbcbd2af82caf6111fea40491 --- /dev/null +++ b/M&T/select_poker/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f5d396f3b4f3250d6cdd26c6448f8d15899c221a3c59da2abf5e1f19529b160 +size 891280 diff --git a/M&T/select_poker/example54/input/instruction.txt b/M&T/select_poker/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a94ec633ec47c3ad96e2eae92fbba04066e736f --- /dev/null +++ b/M&T/select_poker/example54/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 7 of spades \ No newline at end of file diff --git a/M&T/select_poker/example54/output/operation_sequence.json b/M&T/select_poker/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example54/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example55/env_config/env_config.json b/M&T/select_poker/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..31af4365a13a37c49122bc8d0c506d26f222aa5a --- /dev/null +++ b/M&T/select_poker/example55/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.8828618117086374e-05, + -6.034514182411847e-05, + 0.0119985310568257 + ], + "orientation": [ + 0.9999999999999998, + -3.973160906258114e-08, + -1.8988337891880148e-08, + 7.501452133383877e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19304790939313274, + 0.1115207166079761, + 0.7779982939700874 + ], + "orientation": [ + 0.7071067810230143, + -4.1420138536007744e-08, + 1.4670612969700715e-08, + 0.7071067813500801 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19307608568408927, + 0.1115796964969035, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007904, + 0.49999999999914296 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05101162134749416, + 0.17758794877303502, + 0.7779982941142173 + ], + "orientation": [ + 0.7071067810230135, + -4.142013853611473e-08, + 1.4670612969471897e-08, + 0.7071067813500812 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05103979762952485, + 0.17764692864267778, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992077, + -0.5000000000008585, + 0.5000000000007917, + 0.4999999999991417 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07040475336154761, + 0.07356509283036207, + 0.7779983069892893 + ], + "orientation": [ + 0.7071067810230097, + -4.142013852741642e-08, + 1.4670612969946742e-08, + 0.7071067813500851 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07037657690650412, + 0.07362407300762851, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example55/input/input.png b/M&T/select_poker/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e44a93b540b20738c4c7a912c2a6f640d666021a --- /dev/null +++ b/M&T/select_poker/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd08266736a690e9febf7fa7a24b470c5465e48eb4d2be93f3aa04dee4dc2296 +size 905133 diff --git a/M&T/select_poker/example55/input/input_mask.png b/M&T/select_poker/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..02c0c10557257559fdbe96654976a6ad941d41b1 --- /dev/null +++ b/M&T/select_poker/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cee7802097c1f1ccc41a2338c07efa48a1ba9d7848ea1ccf942a455cfde0b431 +size 806682 diff --git a/M&T/select_poker/example55/input/instruction.txt b/M&T/select_poker/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c8ac47423b18d1fa9f8110b1fc5cace3782ce3f --- /dev/null +++ b/M&T/select_poker/example55/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example55/output/operation_sequence.json b/M&T/select_poker/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example55/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example56/env_config/env_config.json b/M&T/select_poker/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..73eb5d4c0020a81eea7f921a7d50715aed47be73 --- /dev/null +++ b/M&T/select_poker/example56/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.280358196448271e-06, + -7.917610767544948e-05, + 0.011998491177116164 + ], + "orientation": [ + 0.9999999999999991, + -5.177712651036291e-08, + -4.75648405807458e-09, + -7.428226252438595e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22288949217448165, + 0.05630277226351277, + 0.7779982623344989 + ], + "orientation": [ + 0.7071067812079401, + -3.9898423813914816e-08, + 3.319777926569068e-08, + 0.7071067811651524 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22289660860225743, + 0.05638016570830296, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07042208754842115, + 0.11116934013621091, + 0.7779982581038754 + ], + "orientation": [ + 0.707106781207941, + -3.989842381586884e-08, + 3.319777926700127e-08, + 0.707106781165151 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07042920397194267, + 0.1112467334637518, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.499999999999142 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06971101285265814, + 0.181949200529814, + 0.7779982521082879 + ], + "orientation": [ + 0.707106781207942, + -3.9898423818803275e-08, + 3.3197779268774615e-08, + 0.7071067811651506 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0697038964362811, + 0.18202659367904625, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999213, + -0.5000000000008533, + 0.5000000000007867, + 0.4999999999991464 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1798269545908706, + 0.13106964701805385, + 0.7779982584236773 + ], + "orientation": [ + 0.707106781207941, + -3.9898423815802786e-08, + 3.319777926671239e-08, + 0.7071067811651511 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17981983816318067, + 0.1311470403963321, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920636, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914024 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example56/input/input.png b/M&T/select_poker/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b0f190b2056b4d8b3271ec685f41533d9ff21f67 --- /dev/null +++ b/M&T/select_poker/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af3aa558f1c1af901879537dd3212c1f3a0ddbd37b320e0cb65f273b0040c86e +size 923753 diff --git a/M&T/select_poker/example56/input/input_mask.png b/M&T/select_poker/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f94dfb90e2e3ef51b65f5516ba29ebc18f267b06 --- /dev/null +++ b/M&T/select_poker/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c47183596486637abcfcc325cb9503462ccc5f9fbd7925b057a73351a71ce106 +size 820382 diff --git a/M&T/select_poker/example56/input/instruction.txt b/M&T/select_poker/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d209eddb80f37d687a1e146a772e4a6d47dfb5c7 --- /dev/null +++ b/M&T/select_poker/example56/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of spades \ No newline at end of file diff --git a/M&T/select_poker/example56/output/operation_sequence.json b/M&T/select_poker/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example56/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example57/env_config/env_config.json b/M&T/select_poker/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..45d9a5a4e29060aa1ba1354020527364c35cb813 --- /dev/null +++ b/M&T/select_poker/example57/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.0296710419469292e-05, + -7.156066532406499e-05, + 0.011998491045428333 + ], + "orientation": [ + 0.9999999999999984, + -4.678859423897021e-08, + 6.734891542500201e-09, + -2.4631300800346276e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16864241370747918, + 0.1519055379124067, + 0.7779982582122706 + ], + "orientation": [ + 0.7071067812502427, + -2.8282947144789743e-08, + 3.7770698685640716e-08, + 0.707106781122851 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1686323488875761, + 0.15197548730158403, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05628884005738429, + 0.07654356684365854, + 0.7779982637502347 + ], + "orientation": [ + 0.7071067812502434, + -2.8282947143409258e-08, + 3.7770698682994724e-08, + 0.7071067811228507 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05627877520938409, + 0.07661351640640329, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914213 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06709765113422744, + 0.10765587660873192, + 0.7779982591775192 + ], + "orientation": [ + 0.7071067812502426, + -2.8282947144483537e-08, + 3.777069868531405e-08, + 0.7071067811228511 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06710771596067942, + 0.10772582603963402, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2203681993801168, + 0.0977850421498731, + 0.7779982580368517 + ], + "orientation": [ + 0.7071067812502423, + -2.8282947144728714e-08, + 3.777069868583804e-08, + 0.7071067811228516 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.22037826420212922, + 0.09785499155438905, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007895, + 0.4999999999991437 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example57/input/input.png b/M&T/select_poker/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bcbbab46f8e74764b4aa6c315577aeb1613c0684 --- /dev/null +++ b/M&T/select_poker/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3d263729a5a11fa45bdcde47e1ffe454d792fcc86adf1e29144f07c1edc7d0a +size 993081 diff --git a/M&T/select_poker/example57/input/input_mask.png b/M&T/select_poker/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2600b6a6991e98fcc17a338039ef15592ce24851 --- /dev/null +++ b/M&T/select_poker/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83f08d016422b15315e01328733bb19547d177033db087a3581a73c0332a3ae0 +size 891537 diff --git a/M&T/select_poker/example57/input/instruction.txt b/M&T/select_poker/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..98421b4f94d1dedcfa2cfae6ad7ae5e5e8201526 --- /dev/null +++ b/M&T/select_poker/example57/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of spades \ No newline at end of file diff --git a/M&T/select_poker/example57/output/operation_sequence.json b/M&T/select_poker/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example57/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example58/env_config/env_config.json b/M&T/select_poker/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..24713d7f285af6fe2b35db4f323df070d8e4d0df --- /dev/null +++ b/M&T/select_poker/example58/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.148087704381341e-05, + -3.986794837845922e-05, + 0.011998530816828966 + ], + "orientation": [ + 0.9999999999999996, + -2.6239737764209752e-08, + -2.0722379677892528e-08, + 2.8250871507164006e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17944675518007852, + 0.06990840695207941, + 0.7779982988190974 + ], + "orientation": [ + 0.7071067810882552, + -3.311799758615668e-08, + 3.925709159770856e-09, + 0.7071067812848395 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.179477523862551, + 0.06994737302287332, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008566, + 0.5000000000007895, + 0.49999999999914346 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06264085679400806, + 0.021955048691124482, + 0.7779983061755659 + ], + "orientation": [ + 0.7071067810882533, + -3.3117997581620535e-08, + 3.9257091610704045e-09, + 0.7071067812848415 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06267162557692071, + 0.021994014878391907, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999209, + -0.5000000000008573, + 0.5000000000007899, + 0.49999999999914296 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0530635652239955, + 0.1473032902406479, + 0.7779983043929622 + ], + "orientation": [ + 0.7071067810882532, + -3.311799758291833e-08, + 3.925709160681336e-09, + 0.7071067812848416 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05303279647233604, + 0.1473422563909362, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920597, + -0.5000000000008611, + 0.5000000000007939, + 0.49999999999913997 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 4 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example58/input/input.png b/M&T/select_poker/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cb6e3d2ae70ae4eb78297cc28cf8c337cd5797f5 --- /dev/null +++ b/M&T/select_poker/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cf92b84eae598d5d4d78f45e837ec670a268f3e6ccddb9de2ebf20852dafac6 +size 990296 diff --git a/M&T/select_poker/example58/input/input_mask.png b/M&T/select_poker/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..333b5734c3c0cd72d3f6417306197bb3095be7f4 --- /dev/null +++ b/M&T/select_poker/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da129b65095ec38629aaa41f9b97390288e8cdb288dbf6edddf2e294c1c8ab3d +size 892543 diff --git a/M&T/select_poker/example58/input/instruction.txt b/M&T/select_poker/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..be83ab198aa786835c3726f6d02ff2eb2444a13f --- /dev/null +++ b/M&T/select_poker/example58/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 4 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example58/output/operation_sequence.json b/M&T/select_poker/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example58/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example59/env_config/env_config.json b/M&T/select_poker/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d0435c6273e104da390d687915ceeb46e777ed5c --- /dev/null +++ b/M&T/select_poker/example59/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1277825563427745e-05, + -2.3859301925940202e-05, + 0.011998530686239491 + ], + "orientation": [ + 0.9999999999999996, + -1.5700527114679305e-08, + -2.0587800719006053e-08, + 3.1578467045010286e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1997297280696393, + 0.042881274351053086, + 0.7779983002250368 + ], + "orientation": [ + 0.7071067811168483, + -2.558389093840099e-08, + -3.4188206800784756e-09, + 0.7071067812562465 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19976029833975795, + 0.04290459394756142, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999212, + -0.5000000000008549, + 0.500000000000788, + 0.49999999999914585 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05551183589695938, + 0.05768116703448719, + 0.7779983056977514 + ], + "orientation": [ + 0.7071067811168473, + -2.5583890935515624e-08, + -3.4188206785829347e-09, + 0.7071067812562472 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.055542406238159626, + 0.057704486676219004, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992083, + -0.5000000000008579, + 0.5000000000007908, + 0.49999999999914224 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06734113906503636, + 0.04245203398258976, + 0.7779983112336862 + ], + "orientation": [ + 0.7071067811168467, + -2.5583890932704345e-08, + -3.4188206771947097e-09, + 0.7071067812562482 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0673105686498794, + 0.04247535367163384, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992052, + -0.5000000000008621, + 0.5000000000007951, + 0.499999999999139 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example59/input/input.png b/M&T/select_poker/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0b6d88fea286948b1d81251f344a86f0b85e8db6 --- /dev/null +++ b/M&T/select_poker/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c33675d042bd28d96244750f4333e8c4b5b31a30ebf207b7682bb68a228bfa2 +size 993709 diff --git a/M&T/select_poker/example59/input/input_mask.png b/M&T/select_poker/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..38171b312a9c678c4502541290c59b7686add1cc --- /dev/null +++ b/M&T/select_poker/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa29c7dd9cc2940069f32ce0f01280b47c79a3bd14b32e77b6451610cfac6254 +size 894217 diff --git a/M&T/select_poker/example59/input/instruction.txt b/M&T/select_poker/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2349cadf36913370d926ad6efce9d7450e453edc --- /dev/null +++ b/M&T/select_poker/example59/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example59/output/operation_sequence.json b/M&T/select_poker/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example59/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example6/env_config/env_config.json b/M&T/select_poker/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8b691543af0b23aec40dfc1df8e9cb112a69dc --- /dev/null +++ b/M&T/select_poker/example6/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.97872230551908e-06, + -7.385909077478228e-05, + 0.011998491074706569 + ], + "orientation": [ + 0.9999999999999996, + -4.829328979983027e-08, + -2.6022833164306215e-09, + 6.344476845273467e-12 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20948327393372193, + 0.10099031955746776, + 0.7779982593398007 + ], + "orientation": [ + 0.7071067811637944, + -3.592192654278483e-08, + 3.22559714117361e-08, + 0.7071067812092997 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2094871630547557, + 0.10106251566513876, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992121, + -0.5000000000008549, + 0.5000000000007881, + 0.49999999999914574 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06784280057673472, + 0.08709932734912555, + 0.777998261418354 + ], + "orientation": [ + 0.7071067811637937, + -3.5921926541935305e-08, + 3.2255971411011384e-08, + 0.7071067812093004 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06784668970145359, + 0.08717152351978397, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008581, + 0.5000000000007909, + 0.4999999999991421 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0538699344696494, + 0.16128981855754804, + 0.7779982548869763 + ], + "orientation": [ + 0.7071067811637927, + -3.5921926544721216e-08, + 3.2255971413017224e-08, + 0.7071067812093016 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05386604535692703, + 0.16136201452253343, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992063, + -0.5000000000008605, + 0.5000000000007935, + 0.4999999999991403 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19930625034563598, + 0.09854386391608866, + 0.7779982617033183 + ], + "orientation": [ + 0.7071067811637927, + -3.5921926541948903e-08, + 3.225597141076383e-08, + 0.7071067812093014 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.19930236122059455, + 0.09861606009199435, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example6/input/input.png b/M&T/select_poker/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fb6418b406f01b4204ccc76956cc5722cfd48380 --- /dev/null +++ b/M&T/select_poker/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:747e3c789ecbf708a670dee7a81cf7bd9ab1d3d89e11b02c28e54989dc396d53 +size 907050 diff --git a/M&T/select_poker/example6/input/input_mask.png b/M&T/select_poker/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bcb2dfc8c904df84bb1445f842f14ac6e1e2c3c0 --- /dev/null +++ b/M&T/select_poker/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd754f5f3eb50f9e633d88656cb9d7e746e09c0bc790382e502c6095f15182c1 +size 804209 diff --git a/M&T/select_poker/example6/input/instruction.txt b/M&T/select_poker/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..40312ee4351e44ea20272ef9bfa57bf1ea26d068 --- /dev/null +++ b/M&T/select_poker/example6/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of clubs \ No newline at end of file diff --git a/M&T/select_poker/example6/output/operation_sequence.json b/M&T/select_poker/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example6/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example60/env_config/env_config.json b/M&T/select_poker/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ac51579b31e9664709bad1bbf49a2af0f1e9f10f --- /dev/null +++ b/M&T/select_poker/example60/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.0802544371673465e-05, + -5.110268138292957e-05, + 0.011998530941049027 + ], + "orientation": [ + 0.9999999999999998, + -3.364048088928618e-08, + -2.0283257857106505e-08, + 6.061034266239689e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19155107923774625, + 0.1321332395940214, + 0.7779982933881029 + ], + "orientation": [ + 0.7071067810441067, + -3.803267781437277e-08, + 9.458968476576307e-09, + 0.7071067813289876 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19158118481515704, + 0.13218318612547414, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008603, + 0.500000000000793, + 0.4999999999991403 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05453200070431684, + 0.05851068187918059, + 0.7779983038983272 + ], + "orientation": [ + 0.7071067810441026, + -3.8032677807682483e-08, + 9.45896847763966e-09, + 0.7071067813289917 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05456210642761677, + 0.0585606286190092, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920886, + -0.500000000000858, + 0.500000000000791, + 0.49999999999914285 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.060757863047040714, + 0.1162127574564747, + 0.7779983046928666 + ], + "orientation": [ + 0.7071067810441021, + -3.8032677807061026e-08, + 9.45896847771823e-09, + 0.7071067813289923 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06072775732096901, + 0.11626270419836116, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008618, + 0.5000000000007948, + 0.49999999999913936 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker queen of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example60/input/input.png b/M&T/select_poker/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1451ca11181e41406cd251a226572228ca845f2a --- /dev/null +++ b/M&T/select_poker/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e4757f3d2a69340df4c22c7e197fd1639b906ca66ff0ac8e83f23831bc914e7 +size 923981 diff --git a/M&T/select_poker/example60/input/input_mask.png b/M&T/select_poker/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1691eb9df7feac54f6e2037f8e3e9894feca7fff --- /dev/null +++ b/M&T/select_poker/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:258aa348b89562e3201707524810e5a85e6fa00c079592a7a09a2ba454d7ad83 +size 822437 diff --git a/M&T/select_poker/example60/input/instruction.txt b/M&T/select_poker/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..44661de62d07f6dd3628688cb93a2e2d12f0b064 --- /dev/null +++ b/M&T/select_poker/example60/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker queen of hearts \ No newline at end of file diff --git a/M&T/select_poker/example60/output/operation_sequence.json b/M&T/select_poker/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example60/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example61/env_config/env_config.json b/M&T/select_poker/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..293939ec2e7164077d2cf8b5cab89780c77a7f21 --- /dev/null +++ b/M&T/select_poker/example61/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.4115126565999015e-06, + -6.617485533179302e-05, + 0.011998490948777087 + ], + "orientation": [ + 0.9999999999999991, + -4.326559074536392e-08, + -4.202638818827883e-09, + 1.2476796190783042e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21842119297819446, + 0.14776384808544887, + 0.7779982554383317 + ], + "orientation": [ + 0.7071067810656786, + -3.3500280858640765e-08, + 2.7579778911143612e-08, + 0.7071067813074152 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2184274600461587, + 0.14782853293701756, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008598, + 0.5000000000007927, + 0.49999999999914113 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0663519386479131, + 0.09216886689319201, + 0.7779982615263155 + ], + "orientation": [ + 0.7071067810656777, + -3.35002808561824e-08, + 2.7579778909596642e-08, + 0.7071067813074161 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0663582057472776, + 0.09223355187428162, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914196 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05845952425250836, + 0.13499387180072014, + 0.7779982588700853 + ], + "orientation": [ + 0.7071067810656784, + -3.3500280857362685e-08, + 2.7579778910262843e-08, + 0.7071067813074154 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05845325717183406, + 0.13505855667392594, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.4999999999991435 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1866895205692674, + 0.02636166030947945, + 0.7779982693464187 + ], + "orientation": [ + 0.707106781065677, + -3.350028085301601e-08, + 2.757977890766242e-08, + 0.7071067813074169 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.18668325343107497, + 0.026426345441437293, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example61/input/input.png b/M&T/select_poker/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..412f152d784a33c415ea0875245d91daa55b4339 --- /dev/null +++ b/M&T/select_poker/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ef3d33724a4886cd47183fd8609942b0c6a05bc16d8885bbcecc5938923e5b5 +size 924900 diff --git a/M&T/select_poker/example61/input/input_mask.png b/M&T/select_poker/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d5eae7aeb2d3101800ea7aaa5f3c7391dea799a9 --- /dev/null +++ b/M&T/select_poker/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:510fee0449f731180096b9fd8b95a75b2f6c7dd71d5f51361aa1a4f2bd672f6a +size 820397 diff --git a/M&T/select_poker/example61/input/instruction.txt b/M&T/select_poker/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..20ddff619d0337c1d19eac7cda0d9332e520738b --- /dev/null +++ b/M&T/select_poker/example61/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example61/output/operation_sequence.json b/M&T/select_poker/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example61/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example62/env_config/env_config.json b/M&T/select_poker/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..87a2431b98d01c8887b5283d8176dd31462cadc8 --- /dev/null +++ b/M&T/select_poker/example62/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.6570349344352682e-05, + -3.09656746361821e-05, + 0.011998530701070832 + ], + "orientation": [ + 0.9999999999999988, + -2.037928158440499e-08, + -1.7488791431430036e-08, + 1.897187006761988e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17930122265186965, + 0.001318416068251508, + 0.7779983034844777 + ], + "orientation": [ + 0.7071067811217666, + -2.6703647182031505e-08, + 2.0666162055234006e-09, + 0.7071067812513282 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17932719196974212, + 0.0013486813214257526, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999209, + -0.5000000000008573, + 0.5000000000007901, + 0.49999999999914296 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05310185128087562, + 0.16351110990613543, + 0.7779983012882113 + ], + "orientation": [ + 0.7071067811217661, + -2.6703647182992838e-08, + 2.0666162052653657e-09, + 0.707106781251329 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05312782056754992, + 0.1635413751255007, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008565, + 0.5000000000007895, + 0.4999999999991436 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07283789224135555, + 0.02095604265405674, + 0.777998311502104 + ], + "orientation": [ + 0.7071067811217653, + -2.6703647177957058e-08, + 2.066616206950048e-09, + 0.7071067812513299 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07281192283456674, + 0.020986308001552805, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992029, + -0.5000000000008632, + 0.5000000000007961, + 0.49999999999913697 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example62/input/input.png b/M&T/select_poker/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..487fa5cee70b192ca0ce6e48aaaf5fa2d8c96321 --- /dev/null +++ b/M&T/select_poker/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bffc9c3cb3bda31d55c33905b41ec631257afba07e132fb1a9b1e2474d0ae8ab +size 906835 diff --git a/M&T/select_poker/example62/input/input_mask.png b/M&T/select_poker/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5c77e4144650a4c203ffc8c909a48976b5e77154 --- /dev/null +++ b/M&T/select_poker/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9daed0703ade1c89b7d302a98b478d48417aad8d8ea769a37bf291e51304aa +size 807688 diff --git a/M&T/select_poker/example62/input/instruction.txt b/M&T/select_poker/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..98421b4f94d1dedcfa2cfae6ad7ae5e5e8201526 --- /dev/null +++ b/M&T/select_poker/example62/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of spades \ No newline at end of file diff --git a/M&T/select_poker/example62/output/operation_sequence.json b/M&T/select_poker/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example62/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example63/env_config/env_config.json b/M&T/select_poker/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f0ff0a5850d62b0b15a62c72a72d9addfd40b933 --- /dev/null +++ b/M&T/select_poker/example63/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.70797696400608e-06, + -8.902310658249121e-05, + 0.01199849137432122 + ], + "orientation": [ + 0.9999999999999987, + -5.822974396404786e-08, + -3.738479101654028e-09, + 6.680344773776946e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.189297177861931, + 0.11400786966097048, + 0.7779982557885922 + ], + "orientation": [ + 0.7071067811046969, + -4.37361351038719e-08, + 3.846954670694489e-08, + 0.7071067812683963 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1893027572529361, + 0.11409488817256239, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008582, + 0.5000000000007913, + 0.49999999999914196 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05731276518683342, + 0.169875568696569, + 0.7779982502699266 + ], + "orientation": [ + 0.7071067811046969, + -4.373613510681304e-08, + 3.846954670898179e-08, + 0.7071067812683963 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05731834455650446, + 0.16996258698147818, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008601, + 0.5000000000007929, + 0.49999999999914063 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05414685397535964, + 0.17777526554170853, + 0.7779982501833238 + ], + "orientation": [ + 0.7071067811046956, + -4.373613510684126e-08, + 3.846954670903041e-08, + 0.7071067812683977 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05414127460703419, + 0.17786228380731636, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992074, + -0.5000000000008589, + 0.5000000000007917, + 0.4999999999991412 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.15750496130774747, + 0.07911478442258253, + 0.7779982624442643 + ], + "orientation": [ + 0.7071067811046962, + -4.3736135100476e-08, + 3.84695467044317e-08, + 0.7071067812683971 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.15749938189568777, + 0.07920180313474219, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992084, + -0.5000000000008576, + 0.5000000000007905, + 0.4999999999991425 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example63/input/input.png b/M&T/select_poker/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..349f7fa33c7ce1513934177634ca5c912b67f170 --- /dev/null +++ b/M&T/select_poker/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40e7242270d9d13e1fc249a8c62f41694ed62ee07175ce0e69189e8daab8477e +size 904638 diff --git a/M&T/select_poker/example63/input/input_mask.png b/M&T/select_poker/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8a2fc1c91f907b878343ed57e25051847b90db0a --- /dev/null +++ b/M&T/select_poker/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f1ad03cc6548337b1b611d8a64fa2e11f70f97d2217900573e25e518f89b8d3 +size 804210 diff --git a/M&T/select_poker/example63/input/instruction.txt b/M&T/select_poker/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..aef1ea70ee5b34a0de4d029af0a4b3334f1d2511 --- /dev/null +++ b/M&T/select_poker/example63/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example63/output/operation_sequence.json b/M&T/select_poker/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example63/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example64/env_config/env_config.json b/M&T/select_poker/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ad51996f6f02867a218e3e90a4d46e9d1b6da4d0 --- /dev/null +++ b/M&T/select_poker/example64/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.466171777953655e-07, + -5.8994335550989505e-05, + 0.011998490835997716 + ], + "orientation": [ + 0.9999999999999993, + -3.856497212325328e-08, + -5.546168206712135e-10, + 1.2233921539591693e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.2214964364712734, + 0.05178289211662799, + 0.7779982657076334 + ], + "orientation": [ + 0.7071067811741871, + -2.7612643965040376e-08, + 2.683132446494537e-08, + 0.7071067811989074 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22149726402368417, + 0.051840558356753774, + 0.8925568704314482 + ], + "orientation": [ + 0.4999999999992078, + -0.5000000000008582, + 0.500000000000791, + 0.4999999999991419 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05159581421521516, + 0.16188530915185212, + 0.7779982574051275 + ], + "orientation": [ + 0.7071067811741859, + -2.7612643967552626e-08, + 2.6831324467413153e-08, + 0.7071067811989071 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.051596641761758794, + 0.16194297518031303, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992083, + -0.5000000000008579, + 0.5000000000007908, + 0.49999999999914224 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06235324912563312, + 0.08729578902992567, + 0.7779982632837397 + ], + "orientation": [ + 0.7071067811741868, + -2.761264396570918e-08, + 2.683132446569628e-08, + 0.7071067811989064 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06235242157502389, + 0.08735345520208301, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007944, + 0.49999999999913963 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.2055274853201535, + 0.05651749154516505, + 0.7779982658161074 + ], + "orientation": [ + 0.7071067811741865, + -2.7612643964949647e-08, + 2.683132446495095e-08, + 0.7071067811989066 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.2055266577678287, + 0.05657515777674525, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 2 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example64/input/input.png b/M&T/select_poker/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e85ee60fdad6e3681ada4966f37c8327c052b8ec --- /dev/null +++ b/M&T/select_poker/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:323786635012587a50e7ce9e975c55d770465a29e6dd08409e5537636975af6e +size 907549 diff --git a/M&T/select_poker/example64/input/input_mask.png b/M&T/select_poker/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a2286b5c9ad547fa25d7ede457d462e2869843fc --- /dev/null +++ b/M&T/select_poker/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea9d9941bb728670581bec6ad3014d6db0a843799d1a17fe606f27c8780dfb3 +size 805338 diff --git a/M&T/select_poker/example64/input/instruction.txt b/M&T/select_poker/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6aae8ae9b9fee26a4d1d99c1d97d71730475f397 --- /dev/null +++ b/M&T/select_poker/example64/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 2 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example64/output/operation_sequence.json b/M&T/select_poker/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example64/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example65/env_config/env_config.json b/M&T/select_poker/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..698769a661c853030a2809a7100775dde9179f60 --- /dev/null +++ b/M&T/select_poker/example65/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.0280216325375224e-05, + -4.578721075350914e-05, + 0.011998530871684988 + ], + "orientation": [ + 0.9999999999999991, + -3.013817142165795e-08, + -1.9935603532560226e-08, + 4.32773215902719e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19930484716461674, + 0.09645929578035943, + 0.7779982962189128 + ], + "orientation": [ + 0.70710678106878, + -3.531561632137392e-08, + 7.2316718419613904e-09, + 0.7071067813043138 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1993344422943624, + 0.09650404716011404, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007904, + 0.49999999999914296 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05769500073208174, + 0.027518567687181864, + 0.7779983060191099 + ], + "orientation": [ + 0.7071067810687777, + -3.531561631521559e-08, + 7.231671843345432e-09, + 0.7071067813043161 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05772459599319408, + 0.027563319242793476, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.49999999999914196 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07499808756335913, + 0.1508212043334992, + 0.7779983038778293 + ], + "orientation": [ + 0.7071067810687787, + -3.531561631654849e-08, + 7.2316718431091135e-09, + 0.7071067813043153 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0749684923410346, + 0.15086595583544138, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992086, + -0.5000000000008584, + 0.5000000000007914, + 0.4999999999991425 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example65/input/input.png b/M&T/select_poker/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..26f3f752c45940f6470843781268ef4fb7636260 --- /dev/null +++ b/M&T/select_poker/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18c37d7608fec3f659ea903fb271effb1a99b25c1a8f562fa9f04d0391261c9a +size 990987 diff --git a/M&T/select_poker/example65/input/input_mask.png b/M&T/select_poker/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..19230a86fbe86a51080b938615e3c77b66b5d244 --- /dev/null +++ b/M&T/select_poker/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da1ebee075597659fda4abfc404e96e85ba9a40cab0ee11760fe6d64bb255a64 +size 892579 diff --git a/M&T/select_poker/example65/input/instruction.txt b/M&T/select_poker/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..91203dd5c7a723cad970f4d77380719dffc2b7b5 --- /dev/null +++ b/M&T/select_poker/example65/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of clubs \ No newline at end of file diff --git a/M&T/select_poker/example65/output/operation_sequence.json b/M&T/select_poker/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example65/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example66/env_config/env_config.json b/M&T/select_poker/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..514a28fb2a43a93e7744bac757ac5ce15afc4eec --- /dev/null +++ b/M&T/select_poker/example66/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.730462564635423e-05, + -4.625654744209845e-05, + 0.011998530937390055 + ], + "orientation": [ + 0.9999999999999991, + -3.044887432712262e-08, + -2.456176310845622e-08, + 5.735343737523036e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20458414955152632, + 0.07558162246923934, + 0.7779982953921499 + ], + "orientation": [ + 0.7071067810373152, + -3.879344476398364e-08, + 4.192474741645542e-09, + 0.70710678133578 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2046206101457973, + 0.07562683253863453, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008566, + 0.5000000000007895, + 0.49999999999914346 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07421396935820565, + 0.05984334374271832, + 0.7779983027537268 + ], + "orientation": [ + 0.7071067810373124, + -3.879344475875399e-08, + 4.192474743302987e-09, + 0.7071067813357825 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07425043007003723, + 0.059888553939471796, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999209, + -0.5000000000008573, + 0.5000000000007899, + 0.49999999999914296 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.054544825332984916, + 0.1421912890641403, + 0.7779983040638144 + ], + "orientation": [ + 0.707106781037311, + -3.879344475768467e-08, + 4.192474743701959e-09, + 0.7071067813357839 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05450836461074489, + 0.14223649927052648, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920597, + -0.5000000000008611, + 0.5000000000007939, + 0.49999999999913997 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example66/input/input.png b/M&T/select_poker/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9f1f7ede31465e62ad3900d895abfa4140ab399b --- /dev/null +++ b/M&T/select_poker/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:522e2804bfa8ad68308d6c3722e58382183a35cc2ec440ab1d694fa9c9b765e3 +size 990559 diff --git a/M&T/select_poker/example66/input/input_mask.png b/M&T/select_poker/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..21cfc4d902721925d743cf3cf74d21d9733f7828 --- /dev/null +++ b/M&T/select_poker/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:720af7d44460385baf91c4c7485e605efd44acaa4fc6857300408037799827a1 +size 892785 diff --git a/M&T/select_poker/example66/input/instruction.txt b/M&T/select_poker/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a0786b95d74f14dac8f6bf4fe8baba9b5de3bdf --- /dev/null +++ b/M&T/select_poker/example66/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example66/output/operation_sequence.json b/M&T/select_poker/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example66/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example67/env_config/env_config.json b/M&T/select_poker/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c95d45eba3ef2b89e9697c59b9ea2073f20cb0eb --- /dev/null +++ b/M&T/select_poker/example67/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.5327827583329403e-06, + -7.021133496811855e-05, + 0.011998491010505298 + ], + "orientation": [ + 0.9999999999999989, + -4.590561920875056e-08, + 1.6549897233825035e-09, + 1.4636914353865132e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15761501980676063, + 0.10037433551192303, + 0.7779982614267806 + ], + "orientation": [ + 0.7071067811862513, + -3.1237829183187425e-08, + 3.3569280552720356e-08, + 0.7071067811868434 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15761254405286063, + 0.1004429660707994, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07391172831792321, + 0.11246763729680698, + 0.7779982600396285 + ], + "orientation": [ + 0.7071067811862524, + -3.1237829183601426e-08, + 3.3569280553330676e-08, + 0.7071067811868423 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07390925256512833, + 0.11253626781185412, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.50000000000086, + 0.5000000000007929, + 0.49999999999914096 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06296934308492178, + 0.15791745956461256, + 0.7779982554144346 + ], + "orientation": [ + 0.7071067811862506, + -3.123782918504505e-08, + 3.35692805551237e-08, + 0.7071067811868439 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06297181883419399, + 0.1579860899380045, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920863, + -0.5000000000008584, + 0.5000000000007913, + 0.49999999999914246 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.18382113630056468, + 0.054968883374736315, + 0.7779982644649155 + ], + "orientation": [ + 0.7071067811862517, + -3.123782918218248e-08, + 3.35692805515949e-08, + 0.707106781186843 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.18382361205628836, + 0.05503751401306709, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920725, + -0.5000000000008592, + 0.5000000000007923, + 0.4999999999991412 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example67/input/input.png b/M&T/select_poker/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..08f662091c7fa055e911379759ba2ed2e15e3bef --- /dev/null +++ b/M&T/select_poker/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d378c925550d11b9945fc6446cf53210a307a0c7c53753f16e0e85ae672b300 +size 923801 diff --git a/M&T/select_poker/example67/input/input_mask.png b/M&T/select_poker/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a3bdbd5e5cf1fde415532062c42a51fc16cd08e5 --- /dev/null +++ b/M&T/select_poker/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49a2ceb0dd21db91fe5e3f53a46160451f806e1d0f4bcb6093c9d1bced203763 +size 819027 diff --git a/M&T/select_poker/example67/input/instruction.txt b/M&T/select_poker/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..863f15117697164a308d64b38332773e2fd71a97 --- /dev/null +++ b/M&T/select_poker/example67/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example67/output/operation_sequence.json b/M&T/select_poker/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example67/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example68/env_config/env_config.json b/M&T/select_poker/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..30930872425fbe8bec7bfcdca2560abed4928475 --- /dev/null +++ b/M&T/select_poker/example68/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.104506726560242e-06, + -8.045536174509544e-05, + 0.011998491203160653 + ], + "orientation": [ + 0.9999999999999991, + -5.261327781172441e-08, + -5.3048305088455245e-09, + 6.021537690852705e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.203505606981831, + 0.12753806509125357, + 0.7779982547325983 + ], + "orientation": [ + 0.7071067811009335, + -4.0874904629900666e-08, + 3.340172936739904e-08, + 0.7071067812721603 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2035135289320519, + 0.12761670878827477, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992069, + -0.5000000000008599, + 0.5000000000007928, + 0.49999999999914096 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06721323958649027, + 0.10878546008297794, + 0.7779982581513807 + ], + "orientation": [ + 0.7071067811009333, + -4.087490462822008e-08, + 3.340172936633098e-08, + 0.7071067812721595 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06722116155084419, + 0.10886410387862425, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008564, + 0.5000000000007894, + 0.49999999999914346 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06253792232980153, + 0.14899710887468928, + 0.7779982552970854 + ], + "orientation": [ + 0.7071067811009324, + -4.087490462968388e-08, + 3.340172936715633e-08, + 0.7071067812721614 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06253000038043259, + 0.14907575255639968, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008574, + 0.5000000000007903, + 0.4999999999991425 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.15873094671010035, + 0.10284735695302889, + 0.7779982611729714 + ], + "orientation": [ + 0.7071067811009328, + -4.0874904626813615e-08, + 3.3401729365384536e-08, + 0.7071067812721599 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.15872302473463512, + 0.10292600082215835, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007904, + 0.49999999999914296 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example68/input/input.png b/M&T/select_poker/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d61baa386e895c282c823ecf006619aa584fbc81 --- /dev/null +++ b/M&T/select_poker/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5982a876802e9c83d9dc86f77e11b3f026531dc17a18a44ec69f36f0a119706 +size 905626 diff --git a/M&T/select_poker/example68/input/input_mask.png b/M&T/select_poker/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0ea6f9037bc8a3595a52ade4069eac21d5ce30c8 --- /dev/null +++ b/M&T/select_poker/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2adb78ff6236d5c515375198cad54ecf12aa3ec1696c62750e18728334a3204 +size 804082 diff --git a/M&T/select_poker/example68/input/instruction.txt b/M&T/select_poker/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a2f31cbf07e74483c90cf5f96d68f940799ce651 --- /dev/null +++ b/M&T/select_poker/example68/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example68/output/operation_sequence.json b/M&T/select_poker/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example68/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example69/env_config/env_config.json b/M&T/select_poker/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6894e5199e8a81361165c3c08dd11968e80b0817 --- /dev/null +++ b/M&T/select_poker/example69/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.0351380029480613e-05, + -5.628955321825537e-05, + 0.011998531008473826 + ], + "orientation": [ + 0.9999999999999989, + -3.706198362500523e-08, + -1.999204179787134e-08, + 8.227841469267736e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18124318746496262, + 0.16227879012820123, + 0.7779982908402261 + ], + "orientation": [ + 0.707106781019391, + -4.0242711536383914e-08, + 1.2079223784125159e-08, + 0.7071067813537033 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18127285202061985, + 0.16233380611182488, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991421 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06571362174472828, + 0.13952745606515407, + 0.7779982971450543 + ], + "orientation": [ + 0.7071067810193888, + -4.0242711532220065e-08, + 1.20792237846181e-08, + 0.7071067813537052 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06574328638494595, + 0.13958247217777944, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992092, + -0.5000000000008569, + 0.5000000000007899, + 0.49999999999914313 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06400679927892348, + 0.036607128074411924, + 0.7779983099587696 + ], + "orientation": [ + 0.7071067810193844, + -4.0242711523556586e-08, + 1.2079223785630389e-08, + 0.7071067813537101 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06397713445679945, + 0.03666214446784269, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920564, + -0.5000000000008615, + 0.5000000000007946, + 0.49999999999913947 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example69/input/input.png b/M&T/select_poker/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..46466572d3af66d92617b2bf82e600c96564ba03 --- /dev/null +++ b/M&T/select_poker/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2da324cad1c8b49740128d27c43330a46a5dae23fd028e1a227ad2e3c6335888 +size 991536 diff --git a/M&T/select_poker/example69/input/input_mask.png b/M&T/select_poker/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..31d9b022574d95e8b2d3d4e0bd1f1e0232377ab2 --- /dev/null +++ b/M&T/select_poker/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb0b5fc49aa6e1c1a39e8abaa210b3dd860f1e4f5780fec6744111308fdbc8c3 +size 893067 diff --git a/M&T/select_poker/example69/input/instruction.txt b/M&T/select_poker/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1141a515b74f1b194534b2c506a86533dc06625 --- /dev/null +++ b/M&T/select_poker/example69/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example69/output/operation_sequence.json b/M&T/select_poker/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example69/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example7/env_config/env_config.json b/M&T/select_poker/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f9018dbc3de633f042f334f4bada5c0421c326c8 --- /dev/null +++ b/M&T/select_poker/example7/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1467038231632794e-05, + -2.366512337007124e-05, + 0.011998530686671739 + ], + "orientation": [ + 0.9999999999999996, + -1.5575044865105593e-08, + -2.071400695951581e-08, + 2.5513016559613447e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20637760443764203, + 0.10223389219213563, + 0.7779982980618857 + ], + "orientation": [ + 0.7071067811215638, + -2.5584219600732624e-08, + -3.5962920435431795e-09, + 0.7071067812515307 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20640835960639345, + 0.10225702197509802, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008572, + 0.50000000000079, + 0.4999999999991428 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05121109456447218, + 0.008938367019593003, + 0.7779983073949059 + ], + "orientation": [ + 0.7071067811215624, + -2.5584219596006577e-08, + -3.5962920411969367e-09, + 0.7071067812515323 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.051241849862016874, + 0.008961496887099138, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06842911500854011, + 0.03084681963813805, + 0.7779983116682783 + ], + "orientation": [ + 0.7071067811215616, + -2.5584219593838275e-08, + -3.5962920400721965e-09, + 0.7071067812515329 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06839835965557181, + 0.03086994954168684, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008618, + 0.5000000000007948, + 0.49999999999913936 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example7/input/input.png b/M&T/select_poker/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..98e2bac4d98b0127544b6864f6b0eaba0bcfd80c --- /dev/null +++ b/M&T/select_poker/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ba51981b9d633ef5693d0bedf155e0bba36acb4ae95d6ca0fa34021b31f6bef +size 923282 diff --git a/M&T/select_poker/example7/input/input_mask.png b/M&T/select_poker/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ecce338f4a783aff865dbf83e18afe2d65804231 --- /dev/null +++ b/M&T/select_poker/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b01cf2e23aca725ff015da71af8ffa2dc7d1837b9bd16fa4006afc2f43c72bca +size 821185 diff --git a/M&T/select_poker/example7/input/instruction.txt b/M&T/select_poker/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a2f31cbf07e74483c90cf5f96d68f940799ce651 --- /dev/null +++ b/M&T/select_poker/example7/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example7/output/operation_sequence.json b/M&T/select_poker/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example7/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example70/env_config/env_config.json b/M&T/select_poker/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..996fc801852eb6fd05e09bd098d3d2cf259d535c --- /dev/null +++ b/M&T/select_poker/example70/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9390114802912037e-06, + -6.893841936787635e-05, + 0.011998490988997823 + ], + "orientation": [ + 0.9999999999999996, + -4.507335810730798e-08, + 1.2692260537837836e-09, + -1.6825782301229358e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21767158988476984, + 0.15029531206641883, + 0.7779982571038583 + ], + "orientation": [ + 0.7071067812075099, + -3.0922073269118346e-08, + 3.27100960055001e-08, + 0.7071067811655842 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21766969454714327, + 0.1503626982324337, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008564, + 0.5000000000007894, + 0.4999999999991434 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05406631528210197, + 0.04411722459294346, + 0.7779982662588062 + ], + "orientation": [ + 0.7071067812075106, + -3.0922073266246117e-08, + 3.2710096002051054e-08, + 0.7071067811655832 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05406441993313115, + 0.044184611031811344, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992093, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06136794527454421, + 0.07795813587959281, + 0.7779982629156291 + ], + "orientation": [ + 0.7071067812075101, + -3.0922073267417265e-08, + 3.2710096003278365e-08, + 0.707106781165584 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06136984061955113, + 0.07802552222516898, + 0.8925568704314483 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.22222069021209967, + 0.14567702765542365, + 0.7779982564036395 + ], + "orientation": [ + 0.7071067812075104, + -3.092207326960407e-08, + 3.2710096005544344e-08, + 0.7071067811655838 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.22222258554932037, + 0.14574441381696668, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007944, + 0.49999999999913963 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 6 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example70/input/input.png b/M&T/select_poker/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a3591ffae5fb02985b24810d127dadc5d33d93b9 --- /dev/null +++ b/M&T/select_poker/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:486f4f6509a650aeee3b4cd37d2bf72a9c7ec9f568aec715867d72a5e8cc7ffa +size 995067 diff --git a/M&T/select_poker/example70/input/input_mask.png b/M&T/select_poker/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..701f0c0c1c13ce71b54389543f5e65c40eb81605 --- /dev/null +++ b/M&T/select_poker/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95653a73e2a0adff2369a693e74785e8f627b82084e5fe2b1ae6a6e3a3a39526 +size 891934 diff --git a/M&T/select_poker/example70/input/instruction.txt b/M&T/select_poker/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b63df65db4c61bf63604490ac805d7c4cc32a54 --- /dev/null +++ b/M&T/select_poker/example70/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 6 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example70/output/operation_sequence.json b/M&T/select_poker/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example70/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example71/env_config/env_config.json b/M&T/select_poker/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb71bb26dcd40202e6c004718b17de94e08a0a1 --- /dev/null +++ b/M&T/select_poker/example71/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2575527182381198e-05, + -5.767523442016933e-05, + 0.011998530975846435 + ], + "orientation": [ + 0.999999999999999, + -3.7969656465559144e-08, + -1.4867522727088492e-08, + 5.1053594006699505e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15131847789181652, + 0.10993089938451034, + 0.7779982972350373 + ], + "orientation": [ + 0.7071067810680264, + -3.727385631592347e-08, + 1.632947059947651e-08, + 0.7071067813050673 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15134054262845947, + 0.1099872698602509, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992094, + -0.5000000000008565, + 0.5000000000007894, + 0.49999999999914335 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0559448511219073, + 0.17629569245605528, + 0.7779982950316067 + ], + "orientation": [ + 0.707106781068027, + -3.727385631707174e-08, + 1.632947059963765e-08, + 0.7071067813050669 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05596691583031546, + 0.17635206286777833, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008564, + 0.5000000000007891, + 0.4999999999991436 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07136079050231123, + 0.0602736672570616, + 0.7779983076258109 + ], + "orientation": [ + 0.7071067810680237, + -3.727385630967384e-08, + 1.632947059939948e-08, + 0.7071067813050701 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07133872566147227, + 0.060330037960759905, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992052, + -0.5000000000008621, + 0.5000000000007951, + 0.49999999999913913 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example71/input/input.png b/M&T/select_poker/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0f652121c794dc52403693130ef48b6847c1991c --- /dev/null +++ b/M&T/select_poker/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f61b3962e9bc20340fd40f08b275eacaafccbe8d0741be11ad81d3cf00197dee +size 923180 diff --git a/M&T/select_poker/example71/input/input_mask.png b/M&T/select_poker/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f30bb4c592acb7d435ee534f5ff85387f690846c --- /dev/null +++ b/M&T/select_poker/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04453002e3d4b431526cfa6a65af424b18571a5a6088b660da418e6aedba731b +size 823470 diff --git a/M&T/select_poker/example71/input/instruction.txt b/M&T/select_poker/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a64320e157efc76335c2d7feb79db22a9a640f6 --- /dev/null +++ b/M&T/select_poker/example71/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of hearts \ No newline at end of file diff --git a/M&T/select_poker/example71/output/operation_sequence.json b/M&T/select_poker/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example71/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example72/env_config/env_config.json b/M&T/select_poker/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..700c7a0ea97f80b30ffaa5af2f944c0e981b7947 --- /dev/null +++ b/M&T/select_poker/example72/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.486967596410294e-05, + -5.5314244774344707e-05, + 0.01199853103199251 + ], + "orientation": [ + 0.9999999999999992, + -3.641710584424109e-08, + -2.2966561383302673e-08, + 9.741238181173246e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.22218806740175212, + 0.12520353604462625, + 0.7779982908142015 + ], + "orientation": [ + 0.7071067809943907, + -4.1882656051382205e-08, + 9.528869127465164e-09, + 0.707106781378704 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2222221480180399, + 0.12525759879387, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992073, + -0.5000000000008591, + 0.5000000000007919, + 0.4999999999991412 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05115901911100226, + 0.10367875689370626, + 0.7779983002364432 + ], + "orientation": [ + 0.7071067809943863, + -4.188265604466249e-08, + 9.528869128851228e-09, + 0.7071067813787085 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.051193099870078036, + 0.10373281982659777, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991418 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06329997196288585, + 0.10339610607569677, + 0.7779983055137063 + ], + "orientation": [ + 0.7071067809943856, + -4.188265604086323e-08, + 9.528869129433915e-09, + 0.7071067813787092 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06326589112630464, + 0.10345016910753342, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920625, + -0.5000000000008605, + 0.5000000000007937, + 0.4999999999991402 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 7 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example72/input/input.png b/M&T/select_poker/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..374a9d687220a5ce4042ed6e6a6860369b56da4f --- /dev/null +++ b/M&T/select_poker/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0380cc8dc0567edbe2d51b0afc8bb2221e7f421bccf5b031f4892ddd42640181 +size 920860 diff --git a/M&T/select_poker/example72/input/input_mask.png b/M&T/select_poker/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..75e195743c71a894cb076a13e2aca1c04219fcd4 --- /dev/null +++ b/M&T/select_poker/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42f0ca9d09d1375406400877e1e6e57a71042c9d806fbea7833d6600554489fb +size 820614 diff --git a/M&T/select_poker/example72/input/instruction.txt b/M&T/select_poker/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b98e8124ef1740b2bc698c5e24842b0f8a611492 --- /dev/null +++ b/M&T/select_poker/example72/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 7 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example72/output/operation_sequence.json b/M&T/select_poker/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example72/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example73/env_config/env_config.json b/M&T/select_poker/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e06545b18b4069263cdc3c0fa603a04fe153ed80 --- /dev/null +++ b/M&T/select_poker/example73/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.6635907651024032e-06, + -4.984362370184316e-05, + 0.01199849071687413 + ], + "orientation": [ + 0.9999999999999991, + -3.258018621073742e-08, + 1.0805248373527352e-09, + 6.236072835228069e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17509035815898719, + 0.17452412317289087, + 0.7779982588368519 + ], + "orientation": [ + 0.7071067811441283, + -2.2236410470980577e-08, + 2.3758555586379375e-08, + 0.7071067812289662 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17508873199353558, + 0.17457284459170963, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008603, + 0.5000000000007931, + 0.49999999999914035 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06372392016366835, + 0.058355902424584334, + 0.7779982661646644 + ], + "orientation": [ + 0.7071067811441283, + -2.2236410469182683e-08, + 2.375855558450581e-08, + 0.7071067812289661 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06372229400863198, + 0.05840462398295974, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992092, + -0.5000000000008569, + 0.5000000000007898, + 0.49999999999914313 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07292377581605244, + 0.056791366961597804, + 0.7779982659713366 + ], + "orientation": [ + 0.7071067811441288, + -2.2236410469222444e-08, + 2.3758555584567452e-08, + 0.7071067812289654 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07292540197074168, + 0.056840088497542636, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992052, + -0.5000000000008621, + 0.5000000000007951, + 0.49999999999913913 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.1754547376407061, + 0.01230191148674326, + 0.7779982686483158 + ], + "orientation": [ + 0.7071067811441284, + -2.2236410468524575e-08, + 2.375855558397181e-08, + 0.7071067812289659 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17545636379131493, + 0.012350633065364644, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999204, + -0.5000000000008626, + 0.5000000000007957, + 0.4999999999991378 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example73/input/input.png b/M&T/select_poker/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..89500a27026e60d3d2e29525ece8481004c3c1e4 --- /dev/null +++ b/M&T/select_poker/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:389e7f00d500e36e6d8f331256b4cbe281bcd6e2ae7e0656413690287f0507d7 +size 925645 diff --git a/M&T/select_poker/example73/input/input_mask.png b/M&T/select_poker/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..236cb082ba839fd43d1584d13ab0faa5ebc2898c --- /dev/null +++ b/M&T/select_poker/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f507566c2ecae88119ddc57015a0e32a06ffa3e63416a008c1e825d201712c96 +size 821511 diff --git a/M&T/select_poker/example73/input/instruction.txt b/M&T/select_poker/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..98421b4f94d1dedcfa2cfae6ad7ae5e5e8201526 --- /dev/null +++ b/M&T/select_poker/example73/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of spades \ No newline at end of file diff --git a/M&T/select_poker/example73/output/operation_sequence.json b/M&T/select_poker/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example73/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example74/env_config/env_config.json b/M&T/select_poker/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cd74bdf481242aa080cf0529cb2bf9d65c57b9de --- /dev/null +++ b/M&T/select_poker/example74/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.4980443951390145e-06, + -7.279638552742403e-05, + 0.01199849105488898 + ], + "orientation": [ + 0.9999999999999998, + -4.7598258937987157e-08, + 1.6362622480378037e-09, + -3.5980160994651415e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18605631089058863, + 0.09669589704806518, + 0.7779982615682111 + ], + "orientation": [ + 0.7071067812250316, + -3.2445800370586954e-08, + 3.475089101868585e-08, + 0.7071067811480619 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18605386911007452, + 0.0967670544322418, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05615117689511643, + 0.08149880609229787, + 0.7779982625896524 + ], + "orientation": [ + 0.7071067812250317, + -3.2445800370281446e-08, + 3.475089101823011e-08, + 0.7071067811480618 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05614873511234766, + 0.08156996351798873, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914213 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.0645861933551412, + 0.1729897859323522, + 0.77799825348626 + ], + "orientation": [ + 0.7071067812250302, + -3.244580037336285e-08, + 3.475089102174993e-08, + 0.7071067811480634 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06458863512122319, + 0.17306094308714495, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992087, + -0.5000000000008574, + 0.5000000000007903, + 0.4999999999991425 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19296382814853918, + 0.09031924925008916, + 0.7779982609349865 + ], + "orientation": [ + 0.7071067812250315, + -3.244580037092539e-08, + 3.4750891018750834e-08, + 0.7071067811480619 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1929662699288803, + 0.09039040664414626, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914335 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example74/input/input.png b/M&T/select_poker/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..334fbb64b35938ba7e6c3a43e9f56410c8b29a97 --- /dev/null +++ b/M&T/select_poker/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e17b10ce8205d40cad2d268e7a417157d66fd304f55d51a25bfecba785b7a569 +size 991546 diff --git a/M&T/select_poker/example74/input/input_mask.png b/M&T/select_poker/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..46376b5eb95e63fab24c36f6d5f0d0084237f598 --- /dev/null +++ b/M&T/select_poker/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fa22cab849e702a49aee98d339347353a3fea3fd6a6e611a4165b1adfc75f57 +size 890445 diff --git a/M&T/select_poker/example74/input/instruction.txt b/M&T/select_poker/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a2d5d24a84ca0fc95483b46b4c5bfd4141e5561 --- /dev/null +++ b/M&T/select_poker/example74/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of spades \ No newline at end of file diff --git a/M&T/select_poker/example74/output/operation_sequence.json b/M&T/select_poker/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example74/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example75/env_config/env_config.json b/M&T/select_poker/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2cbc77ee2dc2b0d3e3e7684813993eed1ef04f73 --- /dev/null +++ b/M&T/select_poker/example75/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.435638415518117e-05, + -5.34212803316888e-05, + 0.011998531001418847 + ], + "orientation": [ + 0.9999999999999992, + -3.517068066341085e-08, + -2.262820269459177e-08, + 9.252588331254918e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21319822347263917, + 0.11165756447151774, + 0.7779982926058432 + ], + "orientation": [ + 0.7071067810038245, + -4.076451438328223e-08, + 8.887382718305815e-09, + 0.7071067813692691 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21323180244788228, + 0.1117097771266622, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06750989184910683, + 0.14313444221146518, + 0.7779982969843978 + ], + "orientation": [ + 0.7071067810038232, + -4.076451438020525e-08, + 8.88738271886074e-09, + 0.7071067813692704 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06754347088138848, + 0.14318665493610644, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008565, + 0.5000000000007895, + 0.4999999999991436 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07372885208983966, + 0.06615461680747815, + 0.777998308789471 + ], + "orientation": [ + 0.7071067810038192, + -4.0764514371996375e-08, + 8.8873827205006e-09, + 0.7071067813692757 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07369527287152319, + 0.06620682976961488, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999920647, + -0.5000000000008603, + 0.5000000000007934, + 0.49999999999914047 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 4 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example75/input/input.png b/M&T/select_poker/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..13f73942faa2a7745de8006f71d1da0da6e608cf --- /dev/null +++ b/M&T/select_poker/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37c3c7514a67ba272580ef4ecd560589e77e247d97aa33de3c990bbffc254f7d +size 988866 diff --git a/M&T/select_poker/example75/input/input_mask.png b/M&T/select_poker/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e90c28a27cfa3f400033e2c2703abfaa7aeb9355 --- /dev/null +++ b/M&T/select_poker/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6353e259d978f9aca0c16283b88536298246eaee619908b24dfe2beb93947ba +size 891691 diff --git a/M&T/select_poker/example75/input/instruction.txt b/M&T/select_poker/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0bf41e46cd4eb326771b0d02f4b1d4bb6118a34 --- /dev/null +++ b/M&T/select_poker/example75/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 4 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example75/output/operation_sequence.json b/M&T/select_poker/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example75/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example76/env_config/env_config.json b/M&T/select_poker/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc6d26cc56a4d07a33f85ae3f6c882ebe0cf688 --- /dev/null +++ b/M&T/select_poker/example76/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.8005140385231723e-05, + -3.373659903452222e-05, + 0.011998530733518925 + ], + "orientation": [ + 0.9999999999999987, + -2.220243478183719e-08, + -1.8429930933715345e-08, + 3.681764123009178e-12 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17201718555091985, + 0.0035650166408792445, + 0.7779983033430338 + ], + "orientation": [ + 0.7071067811259397, + -2.865345241308576e-08, + 2.690628233789272e-09, + 0.7071067812471542 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1720445572033875, + 0.0035979901309872017, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914196 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.058271870796541725, + 0.005229809037553616, + 0.7779983074611346 + ], + "orientation": [ + 0.7071067811259406, + -2.8653452410820803e-08, + 2.6906282344981602e-09, + 0.7071067812471545 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.058299242497574996, + 0.005262782585307281, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06237996741251811, + 0.1935464314711476, + 0.7779983035467501 + ], + "orientation": [ + 0.7071067811259404, + -2.8653452413026633e-08, + 2.6906282338497433e-09, + 0.7071067812471534 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06235259575914688, + 0.1935794049623024, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007933, + 0.4999999999991406 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example76/input/input.png b/M&T/select_poker/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..411a90ae983722706badb8430cfb4f7e93b50905 --- /dev/null +++ b/M&T/select_poker/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e7d32a4b861056c249d47d256b7eb88246e88a0cb23fbb273b7cb9682e85474 +size 993285 diff --git a/M&T/select_poker/example76/input/input_mask.png b/M&T/select_poker/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e65a617e0244c30f57a2d5bc3a724678d11e0508 --- /dev/null +++ b/M&T/select_poker/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7611d953d3a05b91d1de069b85798e12831b8c5d8f173776d12883218f6439e +size 895851 diff --git a/M&T/select_poker/example76/input/instruction.txt b/M&T/select_poker/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..aef1ea70ee5b34a0de4d029af0a4b3334f1d2511 --- /dev/null +++ b/M&T/select_poker/example76/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example76/output/operation_sequence.json b/M&T/select_poker/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example76/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example77/env_config/env_config.json b/M&T/select_poker/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..99f72b562be9ab6882b5fc7387e0212378271067 --- /dev/null +++ b/M&T/select_poker/example77/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.6633668398482067e-07, + -8.420547846526852e-05, + 0.01199849126991416 + ], + "orientation": [ + 0.9999999999999981, + -5.5075085550100716e-08, + 1.718259238041194e-10, + 3.6649090979894577e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15813941862621478, + 0.1807073811722092, + 0.77799825052816 + ], + "orientation": [ + 0.7071067811600138, + -3.875502797857029e-08, + 3.89970737889374e-08, + 0.7071067812130795 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15813915827086397, + 0.18078969035753656, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992073, + -0.5000000000008591, + 0.5000000000007919, + 0.4999999999991412 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06576698230373963, + 0.04858196063236202, + 0.7779982650479069 + ], + "orientation": [ + 0.7071067811600129, + -3.875502797236097e-08, + 3.899707378278865e-08, + 0.7071067812130803 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06576672195716161, + 0.0486642703272977, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992092, + -0.5000000000008569, + 0.5000000000007898, + 0.49999999999914313 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05446187918602861, + 0.18805318636330304, + 0.777998249646088 + ], + "orientation": [ + 0.7071067811600135, + -3.8755027978906736e-08, + 3.8997073789357e-08, + 0.7071067812130797 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05446213954185849, + 0.1881354955004478, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992093, + -0.5000000000008568, + 0.5000000000007896, + 0.49999999999914335 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.17088423611437548, + 0.09414169433146101, + 0.7779982599489229 + ], + "orientation": [ + 0.7071067811600141, + -3.875502797448322e-08, + 3.899707378505839e-08, + 0.7071067812130791 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17088449646396817, + 0.09422400382619121, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920464, + -0.5000000000008623, + 0.5000000000007953, + 0.49999999999913847 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example77/input/input.png b/M&T/select_poker/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..afc17afd1cc5c30d446502a9bfea8d6a01f860fd --- /dev/null +++ b/M&T/select_poker/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1966da07c4e693cf4be85ebabd2e84b832ac18581200be83a9ff2c91a50f9bb +size 907896 diff --git a/M&T/select_poker/example77/input/input_mask.png b/M&T/select_poker/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..14768e95a573ac2f0d29036e96eccaab265729f6 --- /dev/null +++ b/M&T/select_poker/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94aadfa956f9a4e007085239dd2ceb755abb6604e88bcc2f3ce119d0e2909c18 +size 805691 diff --git a/M&T/select_poker/example77/input/instruction.txt b/M&T/select_poker/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2349cadf36913370d926ad6efce9d7450e453edc --- /dev/null +++ b/M&T/select_poker/example77/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example77/output/operation_sequence.json b/M&T/select_poker/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example77/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example78/env_config/env_config.json b/M&T/select_poker/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ecda73c766b01817a2da1d7bd4b2802c0fd9ea1b --- /dev/null +++ b/M&T/select_poker/example78/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1052690639681004e-05, + -4.660789518398005e-05, + 0.011998530887284241 + ], + "orientation": [ + 0.9999999999999997, + -3.067852067350656e-08, + -2.0444672471584022e-08, + 4.827568962921379e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20029053517458492, + 0.09244626858495153, + 0.7779982961331231 + ], + "orientation": [ + 0.7071067810612514, + -3.6055604266203485e-08, + 7.254516426313124e-09, + 0.7071067813118428 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20032088529715147, + 0.09249182208063715, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008581, + 0.5000000000007914, + 0.49999999999914213 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05784829075680722, + 0.04273066026369326, + 0.7779983050065797 + ], + "orientation": [ + 0.7071067810612491, + -3.6055604260700226e-08, + 7.2545164274381765e-09, + 0.7071067813118445 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.057878641000552435, + 0.04277621391881477, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914196 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07147655817819398, + 0.14453383058650413, + 0.7779983040483891 + ], + "orientation": [ + 0.7071067810612486, + -3.6055604261286174e-08, + 7.254516427267426e-09, + 0.7071067813118451 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07144620795755739, + 0.14457938420936944, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920713, + -0.5000000000008593, + 0.5000000000007918, + 0.4999999999991409 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example78/input/input.png b/M&T/select_poker/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8c24ec345f708d1ed64071b6cea6cc99fef5b569 --- /dev/null +++ b/M&T/select_poker/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2b8c29f6986b03b4b0e31f719552f0686f2a58f74e2e82f6ac6e1eb100f4a7 +size 991440 diff --git a/M&T/select_poker/example78/input/input_mask.png b/M&T/select_poker/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cba0a92bf3869005aaf053300bc79b449ff3d881 --- /dev/null +++ b/M&T/select_poker/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2189eea9965431b9ff3790c9d61efffd7b6a6f24b9d00f26167e4c1b5f91299d +size 893009 diff --git a/M&T/select_poker/example78/input/instruction.txt b/M&T/select_poker/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..20ddff619d0337c1d19eac7cda0d9332e520738b --- /dev/null +++ b/M&T/select_poker/example78/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example78/output/operation_sequence.json b/M&T/select_poker/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example78/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example79/env_config/env_config.json b/M&T/select_poker/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..31d4a4b89e06a50f29888f3cccc6098ad132109c --- /dev/null +++ b/M&T/select_poker/example79/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.721290252654754e-05, + -7.971895252352715e-05, + 0.011998531473937996 + ], + "orientation": [ + 0.999999999999999, + -5.251449796912554e-08, + -2.452352300524461e-08, + 9.409341621403977e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21856319366204896, + 0.12281832233686182, + 0.777998286957672 + ], + "orientation": [ + 0.7071067809334456, + -5.434202545565517e-08, + 1.9794882693118622e-08, + 0.7071067814396481 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2185995643081827, + 0.12289623737193267, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992084, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914246 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06302674333723815, + 0.18755593365141496, + 0.7779982877868263 + ], + "orientation": [ + 0.7071067809334446, + -5.434202545492341e-08, + 1.9794882693071218e-08, + 0.707106781439649 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06306311398322031, + 0.18763384868276678, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.057178376852785, + 0.16964076397705102, + 0.7779982955629918 + ], + "orientation": [ + 0.7071067809334397, + -5.434202544812988e-08, + 1.9794882693321658e-08, + 0.7071067814396538 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05714200608145521, + 0.16971867924497916, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920713, + -0.5000000000008593, + 0.5000000000007923, + 0.4999999999991413 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example79/input/input.png b/M&T/select_poker/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d769dc9b99c0a456ab9b883dd7b0d968cab02382 --- /dev/null +++ b/M&T/select_poker/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db5760b7f2b58c4e6159a9e158ee0c718afb3da7f8ee1a53653ea0050ec97d9d +size 989998 diff --git a/M&T/select_poker/example79/input/input_mask.png b/M&T/select_poker/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d45c44e887a0e6ec0f4e711578d302dfdf564904 --- /dev/null +++ b/M&T/select_poker/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57c5d4b1a81db59c7bbd1e604a312c5219d4b51c73c9e2f4b9bacce4f67fb338 +size 892766 diff --git a/M&T/select_poker/example79/input/instruction.txt b/M&T/select_poker/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7f1977f2b6feedacb189fd7c67d94b8e471d8ad --- /dev/null +++ b/M&T/select_poker/example79/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example79/output/operation_sequence.json b/M&T/select_poker/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example79/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example8/env_config/env_config.json b/M&T/select_poker/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5b887cd44cfc1db1f4a74323fa9eabde0fa29f47 --- /dev/null +++ b/M&T/select_poker/example8/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.0990535874864615e-06, + -5.221529407751987e-05, + 0.011998490748733881 + ], + "orientation": [ + 0.9999999999999997, + -3.413242204461231e-08, + -3.3349217597521174e-09, + 1.5450230472374077e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.20751270483463402, + 0.06595871279769182, + 0.7779982639745446 + ], + "orientation": [ + 0.7071067811585431, + -2.644219694536884e-08, + 2.174413589769419e-08, + 0.7071067812145518 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20751768907737483, + 0.06600975257928114, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06345732292837705, + 0.04482753936410973, + 0.7779982663775324 + ], + "orientation": [ + 0.707106781158542, + -2.6442196944646562e-08, + 2.1744135897227355e-08, + 0.7071067812145528 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06346230717699937, + 0.04487857919398301, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06392238772276337, + 0.18600599920208807, + 0.7779982575909091 + ], + "orientation": [ + 0.7071067811585431, + -2.644219694750134e-08, + 2.1744135898960027e-08, + 0.7071067812145517 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06391740349777458, + 0.18605703883364252, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999213, + -0.5000000000008533, + 0.5000000000007867, + 0.4999999999991464 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.17604336859652725, + 0.01965103400630739, + 0.7779982696931446 + ], + "orientation": [ + 0.7071067811585425, + -2.6442196943563448e-08, + 2.1744135896553636e-08, + 0.7071067812145524 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17603838433992178, + 0.01970207390144648, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991421 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example8/input/input.png b/M&T/select_poker/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..adb445f4e8d71c4ae4dedcb6227fb243cbcfa829 --- /dev/null +++ b/M&T/select_poker/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f710adba9e5dc8d6a8fe3e68148837c5e2e8d4d4513a2941582007d705c7a7 +size 993545 diff --git a/M&T/select_poker/example8/input/input_mask.png b/M&T/select_poker/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f756f36ddeaae37d79161c8809c23183fd67700e --- /dev/null +++ b/M&T/select_poker/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81b7f78bf837122561aa7f6dd93ea18fa1ed13d86071d41c47a6a099bf6e056f +size 892917 diff --git a/M&T/select_poker/example8/input/instruction.txt b/M&T/select_poker/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1ce1283fba3489fa0a37c09f192b3458980a5f8b --- /dev/null +++ b/M&T/select_poker/example8/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example8/output/operation_sequence.json b/M&T/select_poker/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example8/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example80/env_config/env_config.json b/M&T/select_poker/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5bb9fe204f332f8b2f44e2abe2592d49a8d6c2d8 --- /dev/null +++ b/M&T/select_poker/example80/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9513194185040687e-05, + -3.4970111295583446e-05, + 0.01199853075537775 + ], + "orientation": [ + 1.0, + -2.3015581956902707e-08, + -1.94283646022174e-08, + 3.5139956537699194e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17746246064497181, + 0.04400684128824148, + 0.7779983009425606 + ], + "orientation": [ + 0.7071067810966516, + -2.9930708061625986e-08, + 2.5613278890289084e-09, + 0.7071067812764422 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1774913061937432, + 0.04404102036070948, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008564, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.0743132065086767, + 0.13378608160174407, + 0.7779983008179789 + ], + "orientation": [ + 0.7071067810966519, + -2.993070806183976e-08, + 2.5613278888677835e-09, + 0.7071067812764421 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07434205204910863, + 0.13382026066457461, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992092, + -0.5000000000008569, + 0.5000000000007898, + 0.49999999999914313 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07440589808819091, + 0.032020164771818356, + 0.7779983112795689 + ], + "orientation": [ + 0.7071067810966494, + -2.993070805621954e-08, + 2.561327890750936e-09, + 0.7071067812764459 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07437705241004662, + 0.0320543439775503, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920564, + -0.5000000000008615, + 0.5000000000007946, + 0.49999999999913947 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example80/input/input.png b/M&T/select_poker/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d8048a1943852b2966ca3b651680556e4ce92992 --- /dev/null +++ b/M&T/select_poker/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:226a0e82237e298f2d80f26f572ac0ad0b4126a3036dc36fb4e42b59dcc7132c +size 990849 diff --git a/M&T/select_poker/example80/input/input_mask.png b/M&T/select_poker/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f07973773bd91845bcfc9b3f2dc93c14e21a9735 --- /dev/null +++ b/M&T/select_poker/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09ed79b90146d404af926a6d38a944f371ee6de303bd452e96f0b3f1cf722346 +size 893592 diff --git a/M&T/select_poker/example80/input/instruction.txt b/M&T/select_poker/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d3ff8bc2c34377f8fe79893abd4372a15f37d53 --- /dev/null +++ b/M&T/select_poker/example80/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of spades \ No newline at end of file diff --git a/M&T/select_poker/example80/output/operation_sequence.json b/M&T/select_poker/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example80/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example81/env_config/env_config.json b/M&T/select_poker/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0913ac8c856afcbfab6dbca42d76891743ea612b --- /dev/null +++ b/M&T/select_poker/example81/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9517210960290126e-05, + -5.185513806165542e-05, + 0.011998530941140954 + ], + "orientation": [ + 0.9999999999999999, + -3.413785245220364e-08, + -1.943863705569218e-08, + 6.355938968570595e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16996268664038996, + 0.16765002136371054, + 0.7779982919949032 + ], + "orientation": [ + 0.7071067810445208, + -3.778884218270221e-08, + 1.0404969311292036e-08, + 0.7071067813285736 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1699915359398572, + 0.16770070329484, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007918, + 0.4999999999991416 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07184179421528174, + 0.07577418435977522, + 0.777998302080968 + ], + "orientation": [ + 0.707106781044519, + -3.7788842176223826e-08, + 1.0404969312259589e-08, + 0.7071067813285755 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07187064365263522, + 0.07582486649778535, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06408681738424794, + 0.06810896332912966, + 0.7779983078879892 + ], + "orientation": [ + 0.7071067810445174, + -3.7788842172696635e-08, + 1.0404969312600331e-08, + 0.7071067813285772 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.064057967873696, + 0.06815964557538164, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920774, + -0.5000000000008584, + 0.5000000000007911, + 0.4999999999991415 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example81/input/input.png b/M&T/select_poker/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2a9371894451426b5f13632b5f5dff644b02aac5 --- /dev/null +++ b/M&T/select_poker/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93d796be86b8e6c2605240302b4199e4cddcc6b3788bd99f80aa77064d963bc3 +size 906335 diff --git a/M&T/select_poker/example81/input/input_mask.png b/M&T/select_poker/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e6bb67cc25459bdcec048d48b6a483b3c41563ff --- /dev/null +++ b/M&T/select_poker/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e2571012606bd8bfee00f96efbd36ee1faf0854aabb8473fcb1561c89b09a69 +size 806286 diff --git a/M&T/select_poker/example81/input/instruction.txt b/M&T/select_poker/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a0786b95d74f14dac8f6bf4fe8baba9b5de3bdf --- /dev/null +++ b/M&T/select_poker/example81/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example81/output/operation_sequence.json b/M&T/select_poker/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example81/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example82/env_config/env_config.json b/M&T/select_poker/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4d05c80d346637d37239681b915034baa945cfe7 --- /dev/null +++ b/M&T/select_poker/example82/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.1878328970409117e-06, + -5.937512144159269e-05, + 0.011998490842448696 + ], + "orientation": [ + 0.9999999999999997, + -3.881241023383839e-08, + 2.088234246881585e-09, + -4.610485684352432e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17096264706846173, + 0.07277456985515617, + 0.7779982650187258 + ], + "orientation": [ + 0.7071067812331944, + -2.5925736700876418e-08, + 2.886754754912612e-08, + 0.7071067811398997 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17095953102458733, + 0.07283260827000118, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05792249968051378, + 0.07943177976648634, + 0.7779982640299986 + ], + "orientation": [ + 0.707106781233194, + -2.5925736701257487e-08, + 2.886754754933357e-08, + 0.7071067811399001 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05791938363863051, + 0.07948981816772312, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921363, + -0.500000000000853, + 0.5000000000007865, + 0.499999999999147 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05777385471420418, + 0.08417086022587507, + 0.777998263179052 + ], + "orientation": [ + 0.7071067812331946, + -2.59257367014857e-08, + 2.886754754960387e-08, + 0.7071067811398996 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05777697075447219, + 0.08422889861722764, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992029, + -0.5000000000008632, + 0.5000000000007964, + 0.499999999999137 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19072603366420657, + 0.12329152907745258, + 0.7779982595875774 + ], + "orientation": [ + 0.7071067812331946, + -2.5925736702409736e-08, + 2.8867547550778176e-08, + 0.7071067811398996 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.19072914969575883, + 0.1233495673918015, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921313, + -0.5000000000008534, + 0.5000000000007868, + 0.4999999999991465 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 2 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example82/input/input.png b/M&T/select_poker/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4a8cb21b5e9b8ed123c2957df6c24a3d9f328a25 --- /dev/null +++ b/M&T/select_poker/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b58f0fb93b921c0d3f174c3f067bd0b427b1f16a884758ba89ae0d52ddf322 +size 906414 diff --git a/M&T/select_poker/example82/input/input_mask.png b/M&T/select_poker/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4a3f4a0881601c222e5d0626c715f33a875d25d4 --- /dev/null +++ b/M&T/select_poker/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5044a80352c76fdab2133a063f81dc338a0559ed758bef592d155814620805d0 +size 804287 diff --git a/M&T/select_poker/example82/input/instruction.txt b/M&T/select_poker/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..85bfb5bf76d1107f577361b08692416996acae52 --- /dev/null +++ b/M&T/select_poker/example82/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 2 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example82/output/operation_sequence.json b/M&T/select_poker/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example82/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example83/env_config/env_config.json b/M&T/select_poker/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..10da2fddb9369776c5e2232fa9c9ac65dfc532b5 --- /dev/null +++ b/M&T/select_poker/example83/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.00413864165786e-05, + -1.8765462562459653e-05, + 0.011998530649178916 + ], + "orientation": [ + 0.9999999999999999, + -1.2348422688549041e-08, + -1.9772787244003705e-08, + 2.079176709514221e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19251062052828027, + 0.03625245827624587, + 0.7779983012504553 + ], + "orientation": [ + 0.7071067811362274, + -2.2643670679410813e-08, + -5.210901568272189e-09, + 0.7071067812368677 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19253998235083358, + 0.03627079926587167, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05374037813360132, + 0.061187392716827216, + 0.7779983061216675 + ], + "orientation": [ + 0.707106781136226, + -2.2643670677098525e-08, + -5.210901567047453e-09, + 0.7071067812368688 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05376974001667046, + 0.061205733738765304, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008568, + 0.5000000000007894, + 0.4999999999991432 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06582555953846442, + 0.015053196593708837, + 0.7779983119884702 + ], + "orientation": [ + 0.7071067811362257, + -2.2643670674434117e-08, + -5.210901565432405e-09, + 0.7071067812368692 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06579619757910098, + 0.01507153765669273, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991397 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker ace of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example83/input/input.png b/M&T/select_poker/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0283fc23c3ae107b525299ea7a21ae10349b6d69 --- /dev/null +++ b/M&T/select_poker/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0acfe5db9b30d232843629ffa2a370aa56dd447d289e116f8d4e81aff30e3acd +size 924241 diff --git a/M&T/select_poker/example83/input/input_mask.png b/M&T/select_poker/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..49f35a3c24ce59eeb04a466eb9ca2b4915eefc18 --- /dev/null +++ b/M&T/select_poker/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1185ece2f3b4930a709607dc112cc4e5fd587ef98f5ad545c28e67d46bbf8f0 +size 822683 diff --git a/M&T/select_poker/example83/input/instruction.txt b/M&T/select_poker/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2a64320e157efc76335c2d7feb79db22a9a640f6 --- /dev/null +++ b/M&T/select_poker/example83/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker ace of hearts \ No newline at end of file diff --git a/M&T/select_poker/example83/output/operation_sequence.json b/M&T/select_poker/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example83/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example84/env_config/env_config.json b/M&T/select_poker/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f47df3373e89be792c0fb49e6b827c9adbcdc007 --- /dev/null +++ b/M&T/select_poker/example84/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.4402790143600024e-05, + -4.18123540379231e-05, + 0.011998530861420081 + ], + "orientation": [ + 1.0, + -2.7521499977307226e-08, + -2.264937730125698e-08, + 4.7600928381653814e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1983510625969027, + 0.09432833176751267, + 0.7779982957923879 + ], + "orientation": [ + 0.707106781062305, + -3.538007637312182e-08, + 3.473148661997662e-09, + 0.7071067813107895 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.19838468702990722, + 0.09436919820340872, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920913, + -0.5000000000008571, + 0.50000000000079, + 0.4999999999991431 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.061786720090318, + 0.031368100004972185, + 0.7779983054426712 + ], + "orientation": [ + 0.7071067810623015, + -3.53800763668411e-08, + 3.4731486639612935e-09, + 0.7071067813107929 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06182034466955919, + 0.03140896659687474, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008565, + 0.5000000000007893, + 0.4999999999991435 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05335732855886143, + 0.12521491555655587, + 0.7779983054929357 + ], + "orientation": [ + 0.7071067810623013, + -3.5380076366950694e-08, + 3.4731486638439145e-09, + 0.707106781310793 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.053323703988508615, + 0.1252557821375457, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913974 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example84/input/input.png b/M&T/select_poker/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..096b2c25d72fcf973528a6f36dfb05b56063dbcd --- /dev/null +++ b/M&T/select_poker/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29b7c089eb88bd918552ad12bd17466a8edde731cf9c376cc37f1df666b30866 +size 906305 diff --git a/M&T/select_poker/example84/input/input_mask.png b/M&T/select_poker/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..68ae74e53466342f5455247195376d0a843cdecc --- /dev/null +++ b/M&T/select_poker/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be57a8d084e1bfa2d81112cc4e135cc132ecac20118a352cbbb22ff367be4ab4 +size 805691 diff --git a/M&T/select_poker/example84/input/instruction.txt b/M&T/select_poker/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d209eddb80f37d687a1e146a772e4a6d47dfb5c7 --- /dev/null +++ b/M&T/select_poker/example84/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of spades \ No newline at end of file diff --git a/M&T/select_poker/example84/output/operation_sequence.json b/M&T/select_poker/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example84/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example85/env_config/env_config.json b/M&T/select_poker/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa9a860867ae7dbbc539f42fc99e9950d92a3ba --- /dev/null +++ b/M&T/select_poker/example85/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.3327310479669303e-05, + -4.545232764248539e-05, + 0.01199853082040387 + ], + "orientation": [ + 0.9999999999999991, + -2.991537018416446e-08, + -1.53533642019333e-08, + 2.9155577003204517e-12 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15174470294954798, + 0.05359757449482935, + 0.7779983020616702 + ], + "orientation": [ + 0.7071067811194611, + -3.193075923026295e-08, + 1.0301989308349665e-08, + 0.7071067812536325 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1517675025555355, + 0.05364199867859964, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992083, + -0.5000000000008579, + 0.5000000000007908, + 0.49999999999914224 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.055052909398917355, + 0.04529957725103959, + 0.7779983055267201 + ], + "orientation": [ + 0.7071067811194619, + -3.1930759228369727e-08, + 1.0301989308384797e-08, + 0.7071067812536326 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05507570903899973, + 0.04534400150056466, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.49999999999914196 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06689174214214667, + 0.17381733860996498, + 0.7779983015825136 + ], + "orientation": [ + 0.7071067811194617, + -3.1930759230563714e-08, + 1.0301989308270858e-08, + 0.7071067812536332 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06686894254161854, + 0.17386176278319215, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992042, + -0.5000000000008625, + 0.5000000000007955, + 0.4999999999991379 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example85/input/input.png b/M&T/select_poker/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..384ba01a8e2df6deb6acb48438c471df64d656bf --- /dev/null +++ b/M&T/select_poker/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8708035084c8c91dfe31582ba26459ca9cbc5000aa6b5634f045c8367ce6259d +size 991841 diff --git a/M&T/select_poker/example85/input/input_mask.png b/M&T/select_poker/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9a22b3e9fd066ba2212638ebaf43bd2c7a6f6d39 --- /dev/null +++ b/M&T/select_poker/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b792c9c3ae76a9755f318dac1641fcd19ea1777b995519b7b2ad58cb89c82ea7 +size 894297 diff --git a/M&T/select_poker/example85/input/instruction.txt b/M&T/select_poker/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c369e14e2591e1bf6b123a8280e82f6010009d2d --- /dev/null +++ b/M&T/select_poker/example85/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of hearts \ No newline at end of file diff --git a/M&T/select_poker/example85/output/operation_sequence.json b/M&T/select_poker/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example85/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example86/env_config/env_config.json b/M&T/select_poker/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..13b22592ed13151c9c621fbd1f099ac565fd3785 --- /dev/null +++ b/M&T/select_poker/example86/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9563782549935952e-05, + -6.97966197732724e-05, + 0.011998531218936131 + ], + "orientation": [ + 0.999999999999999, + -4.596509190691408e-08, + -1.9479617965008954e-08, + 1.0988046693947217e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.18621094490601917, + 0.1969761123312424, + 0.7779982849622781 + ], + "orientation": [ + 0.7071067809766682, + -4.616622949819499e-08, + 1.8724600125598484e-08, + 0.7071067813964264 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18623983954756404, + 0.19704432957498533, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.499999999999142 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05793657278985002, + 0.10783452420604611, + 0.7779982981525965 + ], + "orientation": [ + 0.7071067809766634, + -4.6166229488826765e-08, + 1.8724600125378855e-08, + 0.7071067813964306 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05796546761654301, + 0.10790274180708778, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920913, + -0.5000000000008571, + 0.50000000000079, + 0.4999999999991431 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06575651724926997, + 0.11510902433664062, + 0.7779983023022236 + ], + "orientation": [ + 0.7071067809766619, + -4.616622948580355e-08, + 1.8724600125402757e-08, + 0.7071067813964326 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0657276223726887, + 0.11517724203036288, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 8 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example86/input/input.png b/M&T/select_poker/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..457100060c2c8d5023d8849fb34c25722bc9d250 --- /dev/null +++ b/M&T/select_poker/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82b86994568513ff4af2823e21c4a32511716128c57561209910c2a60940d375 +size 922630 diff --git a/M&T/select_poker/example86/input/input_mask.png b/M&T/select_poker/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..adc88332f18a89792cdaf442eb92edd9f8e8c766 --- /dev/null +++ b/M&T/select_poker/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:888e3a63237503af06b323d96e653aa109d2249301f1a3c5ba7af28466853b36 +size 822080 diff --git a/M&T/select_poker/example86/input/instruction.txt b/M&T/select_poker/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7f1977f2b6feedacb189fd7c67d94b8e471d8ad --- /dev/null +++ b/M&T/select_poker/example86/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 8 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example86/output/operation_sequence.json b/M&T/select_poker/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example86/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example87/env_config/env_config.json b/M&T/select_poker/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..98775771ddbf1bbfab0dac19e81d5f2768267011 --- /dev/null +++ b/M&T/select_poker/example87/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.999301063081466e-06, + -9.661647459709536e-05, + 0.011998491541521435 + ], + "orientation": [ + 0.9999999999999982, + -6.32058140747546e-08, + 1.964540339434403e-09, + -3.401730677436527e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1747080084223779, + 0.16391085418549356, + 0.7779982506136088 + ], + "orientation": [ + 0.7071067812301165, + -4.323154690969134e-08, + 4.599909539733424e-08, + 0.7071067811429763 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.174705076701181, + 0.16400529478842465, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920586, + -0.5000000000008609, + 0.500000000000794, + 0.4999999999991401 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05279973136836226, + 0.10959947698765098, + 0.7779982569992668 + ], + "orientation": [ + 0.7071067812301185, + -4.323154690690373e-08, + 4.599909539396037e-08, + 0.7071067811429748 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05279679963510288, + 0.10969391786029227, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920713, + -0.5000000000008592, + 0.5000000000007924, + 0.49999999999914113 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05341218395487288, + 0.15741403289169412, + 0.777998250538591 + ], + "orientation": [ + 0.7071067812301174, + -4.3231546909728904e-08, + 4.5999095397381505e-08, + 0.7071067811429758 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.053415115676450735, + 0.15750847350828182, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921213, + -0.5000000000008549, + 0.500000000000788, + 0.49999999999914563 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19245591464229128, + 0.1562485052944925, + 0.777998250139672 + ], + "orientation": [ + 0.707106781230117, + -4.323154690995951e-08, + 4.5999095397528776e-08, + 0.7071067811429759 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.19245884636344976, + 0.1563429459049805, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920386, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913786 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker king of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example87/input/input.png b/M&T/select_poker/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3f4731b53a7975d6e7992539c194983858dd3971 --- /dev/null +++ b/M&T/select_poker/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0079f81bf6b2df2c7d322c18618d3011af9d298de00dc38e9ce1c9766f2022ab +size 907189 diff --git a/M&T/select_poker/example87/input/input_mask.png b/M&T/select_poker/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b4d1fdf014fe5b37a8a9383a8da5fef4172b629d --- /dev/null +++ b/M&T/select_poker/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3ec7315183f0304f61fa4eaf62e031315da2b2a52e91d9270040a8464ea562b +size 805649 diff --git a/M&T/select_poker/example87/input/instruction.txt b/M&T/select_poker/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7598672f3a0085a7b822a9032273738404e88b32 --- /dev/null +++ b/M&T/select_poker/example87/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker king of spades \ No newline at end of file diff --git a/M&T/select_poker/example87/output/operation_sequence.json b/M&T/select_poker/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example87/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example88/env_config/env_config.json b/M&T/select_poker/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..407296f603d0ec6cc452cb8da2a1f9e52e4d9b22 --- /dev/null +++ b/M&T/select_poker/example88/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.4595020095276593e-06, + -5.5703179802383884e-05, + 0.011998490790969799 + ], + "orientation": [ + 0.9999999999999994, + -3.6412943828586914e-08, + 9.633954953643006e-10, + -9.362634356202177e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19854480056726437, + 0.00433289869880888, + 0.7779982699691782 + ], + "orientation": [ + 0.7071067812627861, + -2.5024311045240307e-08, + 2.638153984344389e-08, + 0.7071067811103077 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1985433739380262, + 0.004387347934157054, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008594, + 0.5000000000007923, + 0.49999999999914096 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.056001751991739526, + 0.06762425454932852, + 0.7779982650860003 + ], + "orientation": [ + 0.707106781262787, + -2.5024311046512054e-08, + 2.638153984493101e-08, + 0.7071067811103069 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05600032537824907, + 0.06767870369835671, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008564, + 0.5000000000007894, + 0.49999999999914346 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07440768207463519, + 0.13160648017864654, + 0.777998260175892 + ], + "orientation": [ + 0.707106781262786, + -2.502431104777512e-08, + 2.6381539846342344e-08, + 0.7071067811103076 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0744091086722226, + 0.13166092923827563, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921335, + -0.5000000000008532, + 0.5000000000007864, + 0.4999999999991467 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.18966187437393495, + 0.13399766320608295, + 0.7779982597797396 + ], + "orientation": [ + 0.7071067812627875, + -2.5024311047887685e-08, + 2.638153984639707e-08, + 0.7071067811103076 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.18966330097079823, + 0.13405211227961927, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008603, + 0.5000000000007933, + 0.49999999999914035 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker queen of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example88/input/input.png b/M&T/select_poker/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..690f0c261feebde05dfcb1ec1967d72715b95951 --- /dev/null +++ b/M&T/select_poker/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2222fafefb9da2e744957cc72756e2d93d692a43ddb2ed5e561755fca0be73b0 +size 909188 diff --git a/M&T/select_poker/example88/input/input_mask.png b/M&T/select_poker/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7727a6f696cfa1c7e631cd4650eb7b867e6dba1a --- /dev/null +++ b/M&T/select_poker/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1ed931731a80da1090c1906478b29d736a6126dcfdd99d07602ae7aa6250a71 +size 807126 diff --git a/M&T/select_poker/example88/input/instruction.txt b/M&T/select_poker/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9f0e42f1a4bd8e69142ec69f645ba944f618a84 --- /dev/null +++ b/M&T/select_poker/example88/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker queen of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example88/output/operation_sequence.json b/M&T/select_poker/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example88/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example89/env_config/env_config.json b/M&T/select_poker/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..29daebbe8d32bc32fc168d1d71ab1334b558d57b --- /dev/null +++ b/M&T/select_poker/example89/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.6801787436638966e-06, + -5.076039588481996e-05, + 0.011998490728390826 + ], + "orientation": [ + 0.9999999999999993, + -3.3178118215071425e-08, + -1.7509828006560077e-09, + -8.181727873889345e-12 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17150917144600253, + 0.07804507605268561, + 0.7779982640617513 + ], + "orientation": [ + 0.7071067811844767, + -2.465288601576266e-08, + 2.2186204629689613e-08, + 0.7071067811886177 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17151179128343647, + 0.07809469368918914, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07238928880046089, + 0.06956898528120756, + 0.7779982649711725 + ], + "orientation": [ + 0.7071067811844763, + -2.465288601549638e-08, + 2.2186204629478576e-08, + 0.7071067811886182 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07239190863877658, + 0.06961860293898721, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008568, + 0.5000000000007894, + 0.4999999999991432 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06484880412621537, + 0.02001647622511331, + 0.7779982687393363 + ], + "orientation": [ + 0.7071067811844759, + -2.4652886014343344e-08, + 2.218620462866413e-08, + 0.7071067811886185 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06484618428449981, + 0.020066093966232563, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999919914, + -0.5000000000008678, + 0.5000000000008012, + 0.49999999999913264 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16289299182586114, + 0.1397843418968073, + 0.7779982611364633 + ], + "orientation": [ + 0.707106781184477, + -2.465288601649063e-08, + 2.218620463040964e-08, + 0.7071067811886171 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1628903719906564, + 0.13983395947638366, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913763 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 3 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example89/input/input.png b/M&T/select_poker/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..51354f16f5abd3ae02f605f88a90ee3da0ee6e30 --- /dev/null +++ b/M&T/select_poker/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9ca2e3e2d31185e868635887ed5ef0b99609b1913ed42c76ca13ef8fc7bc419 +size 925077 diff --git a/M&T/select_poker/example89/input/input_mask.png b/M&T/select_poker/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b9468fe0af7aae020fa931a5dc524cb793575ef1 --- /dev/null +++ b/M&T/select_poker/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfd99d6e2360b99e3af241133a843a97b854bb6cd7bbd3eecc7bfdc2545f8c40 +size 819819 diff --git a/M&T/select_poker/example89/input/instruction.txt b/M&T/select_poker/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a0786b95d74f14dac8f6bf4fe8baba9b5de3bdf --- /dev/null +++ b/M&T/select_poker/example89/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 3 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example89/output/operation_sequence.json b/M&T/select_poker/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example89/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example9/env_config/env_config.json b/M&T/select_poker/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf7f4bd140e3cf628ac400b99441cd8b5a1905e --- /dev/null +++ b/M&T/select_poker/example9/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.5812425201407844e-05, + -7.062699396857867e-05, + 0.011998531285789057 + ], + "orientation": [ + 0.999999999999999, + -4.6514700665155664e-08, + -2.3588060550902968e-08, + 5.104125876258102e-12 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21155666410354157, + 0.046210873417192544, + 0.7779982961100792 + ], + "orientation": [ + 0.7071067810279312, + -4.944800832186107e-08, + 1.6218725874253803e-08, + 0.7071067813451611 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21159166618824948, + 0.04627990250673492, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920647, + -0.5000000000008605, + 0.5000000000007934, + 0.4999999999991401 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06377321402258462, + 0.1852024560412976, + 0.7779982901525088 + ], + "orientation": [ + 0.7071067810279346, + -4.9448008326682406e-08, + 1.621872587364488e-08, + 0.7071067813451579 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06380821601596785, + 0.18527148495204138, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.5000000000007911, + 0.49999999999914196 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05996947092538097, + 0.19350454933287603, + 0.7779982952171188 + ], + "orientation": [ + 0.707106781027933, + -4.944800832252585e-08, + 1.621872587401415e-08, + 0.7071067813451595 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05993446885575919, + 0.19357357839286296, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007931, + 0.4999999999991405 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example9/input/input.png b/M&T/select_poker/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..32c41dfb3ebec440dbb5eafe67563ff40ad64ada --- /dev/null +++ b/M&T/select_poker/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c53aba267e8106c814308e569586d0ab3beafb42f6a91a555eb54c26ca0a765 +size 923069 diff --git a/M&T/select_poker/example9/input/input_mask.png b/M&T/select_poker/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0d510ba40dab361f8dcf668947d2558ec8ba9d7e --- /dev/null +++ b/M&T/select_poker/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9566f8f890ff8b7f81d3f80d5284d70ce05360e9ea9fca0dcb6ea91589d3883b +size 823402 diff --git a/M&T/select_poker/example9/input/instruction.txt b/M&T/select_poker/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..48300c966c8b28edde7d118ece8ff05020d8b7e3 --- /dev/null +++ b/M&T/select_poker/example9/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of spades \ No newline at end of file diff --git a/M&T/select_poker/example9/output/operation_sequence.json b/M&T/select_poker/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example9/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example90/env_config/env_config.json b/M&T/select_poker/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..601a0a39b86a87afe59e02a1bd1742d8f1b77686 --- /dev/null +++ b/M&T/select_poker/example90/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.396014995844753e-06, + -0.0001136918937538778, + 0.011998491977899924 + ], + "orientation": [ + 0.9999999999999974, + -7.441216963485973e-08, + -2.8800908767782865e-09, + 3.613689812214597e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.17302828790984706, + 0.1696057706528131, + 0.7779982448417665 + ], + "orientation": [ + 0.7071067811285567, + -5.455427657888968e-08, + 5.0496948186442515e-08, + 0.7071067812445349 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17303258485488077, + 0.16971690174416784, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920586, + -0.5000000000008609, + 0.5000000000007939, + 0.4999999999991401 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07395161236340488, + 0.16707425670041198, + 0.777998245789077 + ], + "orientation": [ + 0.7071067811285565, + -5.455427657830268e-08, + 5.049694818594229e-08, + 0.7071067812445353 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07395590931039246, + 0.16718538782954703, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992094, + -0.5000000000008565, + 0.5000000000007894, + 0.4999999999991434 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.050626912947549674, + 0.19592279603068885, + 0.7779982422138356 + ], + "orientation": [ + 0.7071067811285578, + -5.4554276580565576e-08, + 5.0496948187800144e-08, + 0.7071067812445339 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.050622616009439854, + 0.19603392697839672, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992086, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914263 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16947051672170615, + 0.15970572910702147, + 0.7779982482874797 + ], + "orientation": [ + 0.7071067811285564, + -5.455427657680085e-08, + 5.049694818466096e-08, + 0.7071067812445354 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.16946621976951104, + 0.15981686033719034, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913763 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 4 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example90/input/input.png b/M&T/select_poker/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a0f7f830f28efa49df8781cc500122b8afb33402 --- /dev/null +++ b/M&T/select_poker/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8df9645a168e61de5e53f8dbcc1c3753019ea9a8a3c7af34f3e356d0a3df8c55 +size 906137 diff --git a/M&T/select_poker/example90/input/input_mask.png b/M&T/select_poker/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9af1b4f7bdcb92b15e619caf7068283a007c06dd --- /dev/null +++ b/M&T/select_poker/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:414e908f2337c384d9c6968a83e873d2f8f35d621e0388a4abb23e8195e7e234 +size 805133 diff --git a/M&T/select_poker/example90/input/instruction.txt b/M&T/select_poker/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5bc6bad36305b1c3b8547f515908090f863e943 --- /dev/null +++ b/M&T/select_poker/example90/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 4 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example90/output/operation_sequence.json b/M&T/select_poker/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example90/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example91/env_config/env_config.json b/M&T/select_poker/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4c9a2dbaf810e08e2759dab6132d0f460c6f6ba1 --- /dev/null +++ b/M&T/select_poker/example91/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0275977936675545e-05, + -8.44521788179016e-05, + 0.01199849128798664 + ], + "orientation": [ + 0.9999999999999984, + -5.523967230035526e-08, + -6.727250866805561e-09, + 7.069128513043567e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21612362334297244, + 0.13864085076369193, + 0.7779982521716144 + ], + "orientation": [ + 0.7071067810798001, + -4.373073712340647e-08, + 3.4253725422017594e-08, + 0.7071067812932935 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2161336678331759, + 0.1387234011603771, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992069, + -0.5000000000008599, + 0.5000000000007928, + 0.49999999999914096 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06854344975925888, + 0.17455292996660393, + 0.7779982501899824 + ], + "orientation": [ + 0.7071067810798, + -4.373073712450455e-08, + 3.425372542259988e-08, + 0.7071067812932937 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.068553494235395, + 0.17463548027006304, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999207, + -0.5000000000008595, + 0.5000000000007927, + 0.4999999999991409 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.05081755541066847, + 0.01609804609031238, + 0.7779982692990915 + ], + "orientation": [ + 0.707106781079796, + -4.373073711391898e-08, + 3.4253725416936694e-08, + 0.7071067812932977 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05080751082749019, + 0.016180597057827317, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.49999999999914213 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.17110451681614985, + 0.18387437114842814, + 0.7779982523841754 + ], + "orientation": [ + 0.7071067810797987, + -4.373073712330655e-08, + 3.4253725421949805e-08, + 0.7071067812932949 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.17109447233191416, + 0.1839569214937204, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.5000000000007933, + 0.4999999999991405 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 7 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example91/input/input.png b/M&T/select_poker/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6e94d4c122d0650a66ed1f426bf4b7cd73f5d9ec --- /dev/null +++ b/M&T/select_poker/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ce5fbbb46d382aa93fa7982e4841af76d7031620c356915dfe30dca6f8a9e36 +size 992537 diff --git a/M&T/select_poker/example91/input/input_mask.png b/M&T/select_poker/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..803fcf18c9d902642a11a509cce8c555e536dae0 --- /dev/null +++ b/M&T/select_poker/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcef8edc0200526f29d4846f3fce87c113b66234f2b89e903112a8be76370461 +size 891244 diff --git a/M&T/select_poker/example91/input/instruction.txt b/M&T/select_poker/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a94ec633ec47c3ad96e2eae92fbba04066e736f --- /dev/null +++ b/M&T/select_poker/example91/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 7 of spades \ No newline at end of file diff --git a/M&T/select_poker/example91/output/operation_sequence.json b/M&T/select_poker/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example91/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example92/env_config/env_config.json b/M&T/select_poker/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0514d51af6100b77186887895a9a928596840bc7 --- /dev/null +++ b/M&T/select_poker/example92/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.998702399695763e-06, + -6.121054317772732e-05, + 0.011998490875438307 + ], + "orientation": [ + 0.9999999999999998, + -4.0014414276846e-08, + 5.228531327554707e-09, + 7.573366608991915e-12 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15202449200808077, + 0.15254420139600616, + 0.7779982593690792 + ], + "orientation": [ + 0.7071067812106465, + -2.4562276785674956e-08, + 3.1927935785111526e-08, + 0.7071067811624487 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15201667341699573, + 0.1526040337771446, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992064, + -0.5000000000008605, + 0.5000000000007934, + 0.49999999999914013 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05276890355953625, + 0.07753921196958767, + 0.7779982643329846 + ], + "orientation": [ + 0.7071067812106481, + -2.4562276784686826e-08, + 3.1927935783059886e-08, + 0.7071067811624469 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.052761084952884764, + 0.07759904447763284, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007895, + 0.4999999999991442 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06225536262903932, + 0.049743182457546824, + 0.7779982653545011 + ], + "orientation": [ + 0.7071067812106473, + -2.4562276784576997e-08, + 3.192793578261177e-08, + 0.7071067811624476 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06226318123869289, + 0.04980301499016627, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920486, + -0.5000000000008622, + 0.5000000000007953, + 0.4999999999991389 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.19092584256625839, + 0.09106757507169252, + 0.7779982607025313 + ], + "orientation": [ + 0.7071067812106473, + -2.4562276785564567e-08, + 3.192793578438219e-08, + 0.7071067811624481 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1909336611608514, + 0.0911274074817655, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 5 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example92/input/input.png b/M&T/select_poker/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d93ac7a6eebedd9b0d99855be72f5ea396e992e7 --- /dev/null +++ b/M&T/select_poker/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bdca99b33e3f22fb2d4828349b4f59c94c698d3de074e0fbf04572e8bc5ce8b +size 909918 diff --git a/M&T/select_poker/example92/input/input_mask.png b/M&T/select_poker/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..701df3d5c0daac3862144470fcc5e0c3bdd54da0 --- /dev/null +++ b/M&T/select_poker/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d6f0bda0abf7bfa48cc2f402360cd509c5b52f1803f1c696811beaee0b809aa +size 805788 diff --git a/M&T/select_poker/example92/input/instruction.txt b/M&T/select_poker/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..98421b4f94d1dedcfa2cfae6ad7ae5e5e8201526 --- /dev/null +++ b/M&T/select_poker/example92/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 5 of spades \ No newline at end of file diff --git a/M&T/select_poker/example92/output/operation_sequence.json b/M&T/select_poker/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example92/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example93/env_config/env_config.json b/M&T/select_poker/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b021bf6bfa6a32d75acafe4edd26055d20413f --- /dev/null +++ b/M&T/select_poker/example93/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2220176356530665e-06, + -4.741442264808476e-05, + 0.011998490688365773 + ], + "orientation": [ + 1.0, + -3.0990338003091475e-08, + 7.97191597757883e-10, + 1.323346185547144e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1720460490203786, + 0.1411159727133695, + 0.7779982613298098 + ], + "orientation": [ + 0.7071067811800084, + -2.131373469846916e-08, + 2.243676502394233e-08, + 0.7071067811930866 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.17204485451108312, + 0.14116231966116208, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992069, + -0.5000000000008599, + 0.5000000000007928, + 0.49999999999914096 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.061313702214148634, + 0.0022892453845993603, + 0.777998269756588 + ], + "orientation": [ + 0.7071067811800068, + -2.131373469671056e-08, + 2.2436765021728723e-08, + 0.7071067811930881 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06131250770444683, + 0.002335592498275612, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008565, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.070798776332159, + 0.07464510601831804, + 0.7779982650619796 + ], + "orientation": [ + 0.7071067811800087, + -2.1313734697769512e-08, + 2.243676502292983e-08, + 0.7071067811930861 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.07079997084149249, + 0.07469145303405456, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.16984382813994003, + 0.06909389925444066, + 0.7779982652481037 + ], + "orientation": [ + 0.7071067811800077, + -2.1313734697829387e-08, + 2.243676502280514e-08, + 0.7071067811930872 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1698450226492117, + 0.0691402462710878, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992072, + -0.5000000000008592, + 0.5000000000007923, + 0.49999999999914096 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 6 of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example93/input/input.png b/M&T/select_poker/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bc2b196c9c8c8156a108784567401bd8f6a13be6 --- /dev/null +++ b/M&T/select_poker/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4581d9ced9e5dfcf55049bf71091471e8e84deffde65da725392249a50c63efc +size 995524 diff --git a/M&T/select_poker/example93/input/input_mask.png b/M&T/select_poker/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..efba4b7a88da2a5334200e0dca17b4d1c43cdb80 --- /dev/null +++ b/M&T/select_poker/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8844e798ec9881a115df2d1a5a0020422ee390a76d96bbec0c4ef7ea8ee4f3f8 +size 892314 diff --git a/M&T/select_poker/example93/input/instruction.txt b/M&T/select_poker/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c070d2176f448c301751fa9cf6184431c6b89bd --- /dev/null +++ b/M&T/select_poker/example93/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 6 of clubs \ No newline at end of file diff --git a/M&T/select_poker/example93/output/operation_sequence.json b/M&T/select_poker/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/M&T/select_poker/example93/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example94/env_config/env_config.json b/M&T/select_poker/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5ec4f74bd4c3464c9197f4576e0c9e6a4e3851 --- /dev/null +++ b/M&T/select_poker/example94/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1257198508541648e-06, + -3.5879927416487105e-05, + 0.011998490574373653 + ], + "orientation": [ + 0.9999999999999996, + -2.3448254395591916e-08, + -2.0415441784789335e-09, + -7.515476241490395e-12 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.1816987601618042, + 0.02793949780822318, + 0.7779982676361306 + ], + "orientation": [ + 0.7071067811854266, + -1.7989496258846346e-08, + 1.5113490349959208e-08, + 0.7071067811876671 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.18170181551693243, + 0.027974570045180395, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992117, + -0.500000000000855, + 0.5000000000007883, + 0.49999999999914546 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06593363139359008, + 0.009302193774563771, + 0.7779982689826349 + ], + "orientation": [ + 0.7071067811854267, + -1.7989496258547006e-08, + 1.511349034971607e-08, + 0.7071067811876671 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.06593668675019781, + 0.00933726603383745, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992079, + -0.5000000000008581, + 0.5000000000007915, + 0.4999999999991421 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.07488147455273798, + 0.14099915036983274, + 0.7779982633822964 + ], + "orientation": [ + 0.7071067811854259, + -1.798949625974954e-08, + 1.5113490350555165e-08, + 0.7071067811876682 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0748784192014066, + 0.14103422254636236, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992095, + -0.5000000000008566, + 0.5000000000007894, + 0.49999999999914346 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.15392765028754155, + 0.03893405541678757, + 0.7779982684907898 + ], + "orientation": [ + 0.7071067811854269, + -1.7989496258578945e-08, + 1.511349034986012e-08, + 0.707106781187667 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1539245949311048, + 0.038969127672153006, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992054, + -0.5000000000008618, + 0.5000000000007948, + 0.4999999999991393 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 2 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example94/input/input.png b/M&T/select_poker/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3c399d00fd7e27bb423f2f65c286f98c313b081c --- /dev/null +++ b/M&T/select_poker/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84fb0bd2a360ba3c2e776aaf4d0bbf77d43b57da947c717dce40e6b9a284d26e +size 924249 diff --git a/M&T/select_poker/example94/input/input_mask.png b/M&T/select_poker/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a5b471ccb2e1cfed9fa4111443e457456b967a17 --- /dev/null +++ b/M&T/select_poker/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2d46654170beda20f1e71237bff32f9cb7caacea02d256a70a83f83d594ba68 +size 820661 diff --git a/M&T/select_poker/example94/input/instruction.txt b/M&T/select_poker/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..85bfb5bf76d1107f577361b08692416996acae52 --- /dev/null +++ b/M&T/select_poker/example94/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 2 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example94/output/operation_sequence.json b/M&T/select_poker/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example94/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example95/env_config/env_config.json b/M&T/select_poker/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..975c3094c84bfe616bc7541e832219ae525fcfdb --- /dev/null +++ b/M&T/select_poker/example95/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.908742025465215e-05, + -7.344335377512284e-05, + 0.01199853128157607 + ], + "orientation": [ + 0.9999999999999992, + -4.8368524092368845e-08, + -1.9158146536974256e-08, + -4.561803165537965e-12 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16729073991038543, + 0.06968371729880833, + 0.777998297234175 + ], + "orientation": [ + 0.7071067810593376, + -4.7636283150817014e-08, + 2.064757106051792e-08, + 0.7071067813137554 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1673191691683717, + 0.06975549907993113, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008576, + 0.5000000000007905, + 0.49999999999914263 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07048768651473639, + 0.1798959584120796, + 0.7779982902827332 + ], + "orientation": [ + 0.7071067810593406, + -4.763628315608946e-08, + 2.064757106054012e-08, + 0.7071067813137528 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07051611568870053, + 0.17996773997917626, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992109, + -0.5000000000008556, + 0.5000000000007886, + 0.4999999999991448 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06290664105590625, + 0.1922855563780078, + 0.7779982941947959 + ], + "orientation": [ + 0.7071067810593394, + -4.763628315328934e-08, + 2.0647571060437898e-08, + 0.7071067813137537 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06287821183393207, + 0.19235733806738245, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.49999999999913924 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 4 of hearts" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example95/input/input.png b/M&T/select_poker/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7c93095e630eee7a7b0999731171ac2119b78582 --- /dev/null +++ b/M&T/select_poker/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0028fff1125f84ca2dabbef4838c842f83a0070b811fb646d12b56b99ec4256c +size 921368 diff --git a/M&T/select_poker/example95/input/input_mask.png b/M&T/select_poker/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a371c81df9aeb10773d1854afe5db8676fec166e --- /dev/null +++ b/M&T/select_poker/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2cd88973298d3e52882ebdeeaed45e33bb0d17afc976bd2680c217b0cd3d976 +size 822456 diff --git a/M&T/select_poker/example95/input/instruction.txt b/M&T/select_poker/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..be83ab198aa786835c3726f6d02ff2eb2444a13f --- /dev/null +++ b/M&T/select_poker/example95/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 4 of hearts \ No newline at end of file diff --git a/M&T/select_poker/example95/output/operation_sequence.json b/M&T/select_poker/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example95/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example96/env_config/env_config.json b/M&T/select_poker/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8f9911e6dfcbcc6db8a2cfb1a8b3447ed93f4c4f --- /dev/null +++ b/M&T/select_poker/example96/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.6703619432371768e-05, + -4.492443537561791e-05, + 0.011998530836103099 + ], + "orientation": [ + 0.9999999999999998, + -2.9572130683401885e-08, + -1.758252731874297e-08, + 4.139709227657978e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.16559256210428944, + 0.1724517167442955, + 0.7779982939221816 + ], + "orientation": [ + 0.7071067810816417, + -3.3258646210074845e-08, + 8.489546195274155e-09, + 0.7071067812914537 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.16561866152416163, + 0.1724956248248887, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008582, + 0.500000000000791, + 0.499999999999142 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05616821650035509, + 0.029206856264124538, + 0.7779983062403795 + ], + "orientation": [ + 0.7071067810816382, + -3.3258646203045576e-08, + 8.489546196350412e-09, + 0.7071067812914569 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.05619431607147711, + 0.029250764568095923, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992089, + -0.5000000000008581, + 0.500000000000791, + 0.49999999999914274 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.061102160115791525, + 0.06816309596216792, + 0.7779983080598908 + ], + "orientation": [ + 0.7071067810816385, + -3.325864620194721e-08, + 8.489546196573404e-09, + 0.7071067812914564 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06107606052768593, + 0.06820700429012343, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920614, + -0.5000000000008606, + 0.5000000000007939, + 0.49999999999914013 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 9 of spades" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example96/input/input.png b/M&T/select_poker/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..abed918e0e975193ac2c5f18c709ae4fc031129b --- /dev/null +++ b/M&T/select_poker/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b3c9c923e9964a233b227c7a1ec492757b3f97686f30d6f7d50a5d134f17352 +size 925762 diff --git a/M&T/select_poker/example96/input/input_mask.png b/M&T/select_poker/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e5538cfcad55ced891f3a594767c9f8d8c140f4b --- /dev/null +++ b/M&T/select_poker/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71d398b4104ec9a23b840759790fa4820e489ba7dfbdaef23b4749df6186c4c1 +size 823201 diff --git a/M&T/select_poker/example96/input/instruction.txt b/M&T/select_poker/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..16600b41e3b3b3bcf1ab6864c53146413d2928d9 --- /dev/null +++ b/M&T/select_poker/example96/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 9 of spades \ No newline at end of file diff --git a/M&T/select_poker/example96/output/operation_sequence.json b/M&T/select_poker/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/M&T/select_poker/example96/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example97/env_config/env_config.json b/M&T/select_poker/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfd36cb5240775a7870493f33505fe0721df620 --- /dev/null +++ b/M&T/select_poker/example97/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.632954484147342e-05, + -7.354222619942693e-05, + 0.011998531344853604 + ], + "orientation": [ + 0.9999999999999984, + -4.8440857397992765e-08, + -2.3943566623577582e-08, + 1.5948740134893702e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.21680109684735854, + 0.18798995370850718, + 0.7779982818552705 + ], + "orientation": [ + 0.7071067809016932, + -5.105807447001312e-08, + 1.7327905254662845e-08, + 0.7071067814714012 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21683660403434887, + 0.18806183168743745, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007918, + 0.4999999999991416 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.06638370725869039, + 0.14969799848266177, + 0.7779982927665009 + ], + "orientation": [ + 0.7071067809016867, + -5.1058074460992484e-08, + 1.7327905255323806e-08, + 0.7071067814714074 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.0664192146255512, + 0.1497698767477335, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920924, + -0.5000000000008569, + 0.5000000000007897, + 0.49999999999914324 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06371481543027036, + 0.10508867652526273, + 0.7779983033168099 + ], + "orientation": [ + 0.7071067809016824, + -5.105807445219377e-08, + 1.7327905256063686e-08, + 0.7071067814714116 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.06367930788687776, + 0.10516055507229082, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example97/input/input.png b/M&T/select_poker/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..14790de6442720784cdfdf076ef16961014b1079 --- /dev/null +++ b/M&T/select_poker/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36cb10d341576a8801704c1e59bef6ac8405e28ae05a291541e534a4756e1daf +size 990562 diff --git a/M&T/select_poker/example97/input/input_mask.png b/M&T/select_poker/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ece5bb91b514a79c1e6ba2bae025409aad5405fc --- /dev/null +++ b/M&T/select_poker/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6750b68496f859675f5ed887864425dbb357d35a76081491d947a7d03da3de4 +size 893286 diff --git a/M&T/select_poker/example97/input/instruction.txt b/M&T/select_poker/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2349cadf36913370d926ad6efce9d7450e453edc --- /dev/null +++ b/M&T/select_poker/example97/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example97/output/operation_sequence.json b/M&T/select_poker/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example97/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example98/env_config/env_config.json b/M&T/select_poker/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c0c1740ba97b9f1b65f03c3ab36c55f91a1749 --- /dev/null +++ b/M&T/select_poker/example98/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2730665093842824e-05, + -5.824298712988647e-05, + 0.011998530985014811 + ], + "orientation": [ + 0.9999999999999994, + -3.8343612991226236e-08, + -1.4966963419229837e-08, + 2.1579647150114202e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.15396283528579996, + 0.14441697195375341, + 0.7779982944084195 + ], + "orientation": [ + 0.7071067810891289, + -3.7607855996657617e-08, + 1.652340056409678e-08, + 0.7071067812839648 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.15398505163160994, + 0.1444738972578671, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920824, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991422 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.05035412866824938, + 0.03784361912558828, + 0.7779983056809777 + ], + "orientation": [ + 0.7071067810891252, + -3.7607855990021564e-08, + 1.6523400563690325e-08, + 0.7071067812839684 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.050376345126882646, + 0.037900544701444286, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008614, + 0.5000000000007945, + 0.49999999999913963 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.06769051863319907, + 0.16764779484031744, + 0.7779982992611476 + ], + "orientation": [ + 0.7071067810891287, + -3.7607855993930985e-08, + 1.652340056387203e-08, + 0.7071067812839649 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.0676683022420324, + 0.16770472025318361, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.5000000000008598, + 0.5000000000007926, + 0.4999999999991407 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker 10 of diamonds" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example98/input/input.png b/M&T/select_poker/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0c3c681e381003461404c9a7144c0b3ed0b4131b --- /dev/null +++ b/M&T/select_poker/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408c361b1747f6c83ddd78898412314efc64b32bd9669e7ee6ae3c646f1a6784 +size 990733 diff --git a/M&T/select_poker/example98/input/input_mask.png b/M&T/select_poker/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6e08708c873a38ab1f84902cb67c73503de985c3 --- /dev/null +++ b/M&T/select_poker/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc8c127ebb4a3dc488d1e7d720214b7f6d5240d006f63087f6ab408efdfa681 +size 893202 diff --git a/M&T/select_poker/example98/input/instruction.txt b/M&T/select_poker/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2349cadf36913370d926ad6efce9d7450e453edc --- /dev/null +++ b/M&T/select_poker/example98/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker 10 of diamonds \ No newline at end of file diff --git a/M&T/select_poker/example98/output/operation_sequence.json b/M&T/select_poker/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/M&T/select_poker/example98/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_poker/example99/env_config/env_config.json b/M&T/select_poker/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d560e1db3b66d8a94a1031361d3a2acc0064b276 --- /dev/null +++ b/M&T/select_poker/example99/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.585819686547625e-05, + -6.959069006495192e-05, + 0.011998531267613494 + ], + "orientation": [ + 0.999999999999998, + -4.582952742241871e-08, + -2.3619092639569966e-08, + 3.574059384454941e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder0", + "xml_path": null, + "position": [ + -0.19298741299624947, + 0.09239342828727558, + 0.7779982927869058 + ], + "orientation": [ + 0.7071067810066852, + -4.8986223674939617e-08, + 1.571321784150076e-08, + 0.7071067813664079 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1930224597627814, + 0.09246144443990435, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder1", + "xml_path": null, + "position": [ + -0.07309256945007815, + 0.13012972571952766, + 0.7779982949913203 + ], + "orientation": [ + 0.7071067810066837, + -4.898622367300858e-08, + 1.5713217841831986e-08, + 0.7071067813664093 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.07312761624696769, + 0.13019774192751893, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007904, + 0.4999999999991424 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.050348976198468766, + 0.19600097686887677, + 0.7779982947848091 + ], + "orientation": [ + 0.7071067810066846, + -4.898622367315451e-08, + 1.571321784179357e-08, + 0.7071067813664084 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.05031392940976909, + 0.1960689930613079, + 0.892556870431448 + ], + "orientation": [ + 0.499999999999208, + -0.5000000000008581, + 0.500000000000791, + 0.49999999999914196 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the poker jack of clubs" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/M&T/select_poker/example99/input/input.png b/M&T/select_poker/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a677f4a95940eed4650cb1db6c5fc27b6d26c378 --- /dev/null +++ b/M&T/select_poker/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce22bc85775a094d97a0d3a04e93e7df1f374f516fc44cece7f56e7f4e989a1a +size 989515 diff --git a/M&T/select_poker/example99/input/input_mask.png b/M&T/select_poker/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6a88b796ed67b3f405800a3f0fff59416c3ecaf5 --- /dev/null +++ b/M&T/select_poker/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b26b509136f2b235a3ec037033c965bc6848ef51bab79c7a33a476b16fd580f +size 893007 diff --git a/M&T/select_poker/example99/input/instruction.txt b/M&T/select_poker/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..497a517f6d854aa87b6baa1acfbe1d3738fd40c4 --- /dev/null +++ b/M&T/select_poker/example99/input/instruction.txt @@ -0,0 +1 @@ +Please pick the poker jack of clubs \ No newline at end of file diff --git a/M&T/select_poker/example99/output/operation_sequence.json b/M&T/select_poker/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/M&T/select_poker/example99/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example0/env_config/env_config.json b/M&T/select_toy/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c583ef63a127ca9e5ec93dea30f6dbf3fd1c4fa6 --- /dev/null +++ b/M&T/select_toy/example0/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3057148677536524e-08, + -1.1335307077647576e-10, + -7.681634179348199e-07 + ], + "orientation": [ + 1.0, + 6.408682539294863e-10, + -3.855097501906769e-09, + -2.683235118120159e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.046274157548023, + -0.04542535695857697, + 0.7709990925425281 + ], + "orientation": [ + 0.9977197705979827, + 0.0008213829561426887, + -0.0003435188488780544, + 0.06748678894976275 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.25297477702829985, + 0.14784628420397852, + 0.7649987819351658 + ], + "orientation": [ + 0.7068249975537764, + 0.707388452567325, + -2.269195500441012e-06, + -1.5360166457404499e-06 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.27280037442342714, + -0.12998959785906947, + 0.7649989674693802 + ], + "orientation": [ + -6.055293037624054e-05, + -6.042724673120943e-05, + 0.7073887714022095, + 0.7068246732931458 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.2057887713183721, + 0.1617799589935666, + 0.7649983637473151 + ], + "orientation": [ + 0.7068253970921874, + 0.7073880530212756, + 1.0206171019596336e-05, + 1.9080716528340195e-05 + ], + "class": "Toy" + } + ], + "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 loki into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example0/input/input.png b/M&T/select_toy/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bb8f19b5c242e270427401e3161216e5aa7b6289 --- /dev/null +++ b/M&T/select_toy/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:746ce9a6e7ee6373b5b7e5df98a3f28c8a066b0094141f0c391a3c3b6dede047 +size 905712 diff --git a/M&T/select_toy/example0/input/input_mask.png b/M&T/select_toy/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c8f550a4554958f953b13765b84b1c9b0acf58b0 --- /dev/null +++ b/M&T/select_toy/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5ee8bd040c3e6e646301804fdb605dfd6fdef5c43e74ffb53071bbd7e246f1b +size 796435 diff --git a/M&T/select_toy/example0/input/instruction.txt b/M&T/select_toy/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..798da17cf5b0cf95b3fec07ca244b4e722c58ee3 --- /dev/null +++ b/M&T/select_toy/example0/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Marvel IP. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example0/output/operation_sequence.json b/M&T/select_toy/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example0/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example1/env_config/env_config.json b/M&T/select_toy/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..964c907af1e352ae18a2c6a3a830d04ff7a7be38 --- /dev/null +++ b/M&T/select_toy/example1/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.463275062972332e-09, + -6.965365231337497e-10, + -7.621737816198743e-07 + ], + "orientation": [ + 1.0, + -6.460568522927305e-10, + 4.6261860486956865e-10, + 4.891513279874821e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.25260697472831833, + -0.038747235845425165, + 0.770999098517527 + ], + "orientation": [ + 0.9990312783580787, + 0.0007780375235907205, + -0.0004328141101637228, + -0.04399672933048221 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.23079554877539127, + 0.16677711375216897, + 0.7649982640378064 + ], + "orientation": [ + -2.0648298996014484e-05, + -1.2212748874038747e-05, + 0.7073879121400842, + 0.7068255380096197 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + 0.04543110230243298, + -0.1584930675900015, + 0.7649916747967431 + ], + "orientation": [ + 0.7068256325334333, + 0.7073878179015107, + -1.2509253146897797e-05, + 1.103491417516286e-05 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.09800724535656401, + 0.14786998880545946, + 0.7651342397023128 + ], + "orientation": [ + -0.0013200377619874207, + 0.001042027435361538, + 0.7074577719917291, + 0.7067536151500243 + ], + "class": "Toy" + } + ], + "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 pluto into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example1/input/input.png b/M&T/select_toy/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4531ce3ac213e50f4f905f399fd36515859a3c2c --- /dev/null +++ b/M&T/select_toy/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b785843711de4a29644549f77afce1dd226cec851dd60f1340155e907979ef3 +size 894101 diff --git a/M&T/select_toy/example1/input/input_mask.png b/M&T/select_toy/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..311fb57289a39a4c059bcacad26c2d3ab9599f1c --- /dev/null +++ b/M&T/select_toy/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ddb3e8f8342a5ea54435154deab0865650cd128fd60f92bc0c40572640e35e8 +size 775856 diff --git a/M&T/select_toy/example1/input/instruction.txt b/M&T/select_toy/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..35095171ece6f3a86d2f98d7133d360d02f5a5b5 --- /dev/null +++ b/M&T/select_toy/example1/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is famous for not speaking. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example1/output/operation_sequence.json b/M&T/select_toy/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example1/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example10/env_config/env_config.json b/M&T/select_toy/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..27dcd950c16957639da485c031eaeb2c3f05ef2b --- /dev/null +++ b/M&T/select_toy/example10/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.158667597124076e-08, + 3.1074045185934386e-09, + -7.776066158690015e-07 + ], + "orientation": [ + 1.0, + 1.0118457404133449e-09, + -2.5309043085887045e-09, + -3.7775757415447595e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.09101227260978874, + -0.063511142291625, + 0.7709990822112038 + ], + "orientation": [ + 0.9997635221177302, + 0.0007874889704368244, + -0.0004153754289807802, + -0.021728027225771936 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + 0.2223959391531445, + 0.16838638694007024, + 0.7664559370578103 + ], + "orientation": [ + 0.7069979941410336, + 0.7069849938777041, + -0.011518396595238388, + 0.013906158785671007 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + 0.23513291948300633, + -0.15036379290911092, + 0.7609420802942238 + ], + "orientation": [ + -0.0014366586220444248, + 0.0007452673736482581, + 0.7070931003234524, + 0.7071186096147615 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.2751184944948514, + 0.13195421056827847, + 0.7654066747953367 + ], + "orientation": [ + -0.0038630416596972805, + 0.0037956618383045305, + 0.7073760553920775, + 0.7068166566502866 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + -0.2854175008958736, + -0.14931418025211415, + 0.7654001192802526 + ], + "orientation": [ + 0.7068123918125152, + 0.7073749722570436, + 0.004265799478757413, + -0.004323697425341644 + ], + "class": "Toy" + } + ], + "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 vision into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example10/input/input.png b/M&T/select_toy/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7f054889aba0d8c8015c11c7669ce2e195f758d7 --- /dev/null +++ b/M&T/select_toy/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c9abc77e7327501f41e1dc1431394fa08dee7a542e8c54234660038304f1d04 +size 937738 diff --git a/M&T/select_toy/example10/input/input_mask.png b/M&T/select_toy/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b7420e1de38b511eca94603a0b7f4e13d4d1b74a --- /dev/null +++ b/M&T/select_toy/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfb4e49a7e78403e5ab182805eef490e01b15d3184ef18c5411566177cd7991 +size 801979 diff --git a/M&T/select_toy/example10/input/instruction.txt b/M&T/select_toy/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fcdcf2c3c44bfeb03813bd84bb2e228f6694b385 --- /dev/null +++ b/M&T/select_toy/example10/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that was created by Tony Stark. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example10/output/operation_sequence.json b/M&T/select_toy/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example10/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example11/env_config/env_config.json b/M&T/select_toy/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9717035e2134b6a06030276aaadf501402b3726a --- /dev/null +++ b/M&T/select_toy/example11/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2254367061707127e-08, + 2.3123273043404514e-10, + -7.647461393454053e-07 + ], + "orientation": [ + 1.0, + 1.9797697607289544e-09, + 1.3874331479433143e-09, + -1.0709198584994593e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.09090542987439587, + 0.04440347953433594, + 0.7709990960893155 + ], + "orientation": [ + 0.9992356025414153, + 0.0008112820067760824, + -0.0003667365582782997, + 0.03908219466071266 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.20123807483824951, + -0.1405230603063974, + 0.7649978518748974 + ], + "orientation": [ + 0.7068249455355036, + 0.7073885044682462, + -1.0457420344821064e-05, + 2.3561666520791126e-06 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.2028003750808125, + 0.1663190138987816, + 0.7612879875643392 + ], + "orientation": [ + -0.005983687903146012, + 0.006195483908565867, + 0.7103587655469477, + 0.7037870669945797 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.26079360302175736, + -0.15441241815137202, + 0.7649983166950994 + ], + "orientation": [ + -3.0518895484388296e-05, + -2.777574462403553e-05, + 0.7073879804735955, + 0.7068254688242298 + ], + "class": "Toy" + } + ], + "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 alien into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example11/input/input.png b/M&T/select_toy/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4a004e9130cc42ab97896cc8b18447efecd65faf --- /dev/null +++ b/M&T/select_toy/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4874e0ae4ba6d3baf76c18fd0e6ff4bec86a06061a62bcc2b8bb24003e4e64e +size 924479 diff --git a/M&T/select_toy/example11/input/input_mask.png b/M&T/select_toy/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2274b2d43ab8f4f508f777838971f7595cbaa040 --- /dev/null +++ b/M&T/select_toy/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c96438b3bcdfd0b838594093211b64482ecb099cfe5b847d9d30923a32befc3 +size 810214 diff --git a/M&T/select_toy/example11/input/instruction.txt b/M&T/select_toy/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..49f061920069cf0437c7ec75bac964504595fefe --- /dev/null +++ b/M&T/select_toy/example11/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Toy Story IP. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example11/output/operation_sequence.json b/M&T/select_toy/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example11/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example12/env_config/env_config.json b/M&T/select_toy/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..825149217f09f5e48ed358a2b4ac00aa2e36128b --- /dev/null +++ b/M&T/select_toy/example12/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.4200924453649775e-08, + -9.721088253901938e-10, + -7.715867270623171e-07 + ], + "orientation": [ + 0.9999999999999998, + 2.3142231126284684e-09, + -2.819850567687124e-09, + -1.5319613304768327e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.21526631776647567, + 0.16713049980453415, + 0.7709990908085688 + ], + "orientation": [ + 0.9995835573378492, + 0.0008074824119439282, + -0.000375033042436008, + 0.028843009936269346 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.25754031310626846, + -0.14524239406698058, + 0.7649979356730423 + ], + "orientation": [ + 0.7068251544184007, + 0.7073882948967917, + -2.99768196675541e-05, + -2.0635036381321043e-05 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.04444110647941899, + -0.16363076483183414, + 0.7650034321554329 + ], + "orientation": [ + 1.527742165826616e-05, + 0.00010893903226336432, + 0.7073882247226145, + 0.7068252170251677 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.09701931961299831, + 0.16819991383852909, + 0.7649941737781727 + ], + "orientation": [ + 0.7068288004252674, + 0.707384650224211, + 6.566198787355613e-06, + 5.893584535595863e-05 + ], + "class": "Toy" + } + ], + "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 alien into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example12/input/input.png b/M&T/select_toy/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..94fe4fa3cbdfb20c55fc0f541c47bfca58ffd2fe --- /dev/null +++ b/M&T/select_toy/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64843fd59bc22f468076f065e6a88fbcc5c7d045e3203b24cbfd0ec218a233e4 +size 939671 diff --git a/M&T/select_toy/example12/input/input_mask.png b/M&T/select_toy/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9951247e935be059673a6095a3da8326708c1938 --- /dev/null +++ b/M&T/select_toy/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d25a0815f02812c277eb83293d7b70f4842a698e1639d4d1469e9590ccbaaca +size 820862 diff --git a/M&T/select_toy/example12/input/instruction.txt b/M&T/select_toy/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9fc4ea60bec47d3a3217a62870284409ccba92c4 --- /dev/null +++ b/M&T/select_toy/example12/input/instruction.txt @@ -0,0 +1 @@ + Please select a green toy character. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example12/output/operation_sequence.json b/M&T/select_toy/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example12/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example13/env_config/env_config.json b/M&T/select_toy/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c2cc71a02b906e99a9bfe9ced2b5a178881f0e4e --- /dev/null +++ b/M&T/select_toy/example13/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0877062198317046e-09, + -3.963959246930816e-11, + -7.654923169449831e-07 + ], + "orientation": [ + 1.0, + 1.4739468270862203e-09, + -4.032532141242155e-10, + -8.299079251622041e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.10934496553344089, + 0.1667920577262366, + 0.770999095318763 + ], + "orientation": [ + 0.9978473176542942, + 0.0007685055974715109, + -0.00044952594693948303, + -0.06557391231046221 + ], + "class": "CommonContainer" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.20394945877690204, + -0.1447398971430322, + 0.7650356002131423 + ], + "orientation": [ + 0.7068255893380802, + 0.7073876928548294, + 0.00034382588181046067, + -0.00034646523888562646 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.25182514595929206, + -0.1533000531439029, + 0.7651130647429504 + ], + "orientation": [ + -0.0013199166204358574, + 0.0013231411763343596, + 0.7073862258853574, + 0.7068247551870358 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + 0.20673668268775525, + 0.1620300189958254, + 0.7649988348248472 + ], + "orientation": [ + 1.3079617416508837e-05, + 1.3199697894339109e-05, + 0.7073878780850702, + 0.7068255722545653 + ], + "class": "Toy" + } + ], + "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 aquaman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "aquaman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example13/input/input.png b/M&T/select_toy/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1fe152885d68565cd1b57a91a385fb5e63f78385 --- /dev/null +++ b/M&T/select_toy/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3244ccfee4cab10901daa7836bdaa7096c0ba95798cedb6bc8eebfb00ed324dd +size 903595 diff --git a/M&T/select_toy/example13/input/input_mask.png b/M&T/select_toy/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..76eda7bbefe06ffa124081ff331109e786c2e770 --- /dev/null +++ b/M&T/select_toy/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c97d6dc8859e7e74a85307b4681e1c0963315f59509a36d62f6639c23b1e90eb +size 788717 diff --git a/M&T/select_toy/example13/input/instruction.txt b/M&T/select_toy/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e1cdc57e6956f06a8b5eacdd3e69d149d2142ce7 --- /dev/null +++ b/M&T/select_toy/example13/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy who possesses superhuman strength. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example13/output/operation_sequence.json b/M&T/select_toy/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example13/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example14/env_config/env_config.json b/M&T/select_toy/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9dffe86869d7ed9a2b19197a128c1c0b458c9d8d --- /dev/null +++ b/M&T/select_toy/example14/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.646565287322007e-09, + 4.3484875561037316e-11, + -7.84175849507843e-07 + ], + "orientation": [ + 1.0, + -1.575579409018653e-09, + 2.0931800170443965e-09, + -5.002057569996318e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.1225106121918204, + -0.04649170653340431, + 0.7709990768908207 + ], + "orientation": [ + 0.9999023172764915, + 0.0007906943164688791, + -0.0004092311373252571, + -0.013948592670086309 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.22811037101381815, + 0.13084591598894132, + 0.764997557540448 + ], + "orientation": [ + -6.730097597994978e-06, + -1.4522894012833116e-05, + 0.7073882743173967, + 0.706825175769828 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + 0.23691755301543585, + -0.16431044703120046, + 0.7661788500824822 + ], + "orientation": [ + -0.010706305097680743, + 0.010652251970430217, + 0.7073065995076459, + 0.7067455545329202 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.27695157118137215, + 0.1303922660495116, + 0.7650502591015121 + ], + "orientation": [ + 0.7068263784173441, + 0.707386709525539, + 0.0005350531380175434, + -0.0004771563583489189 + ], + "class": "Toy" + } + ], + "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 alien into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example14/input/input.png b/M&T/select_toy/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3330e79d35f9db95fe4f937a8f5ad003ec76edc2 --- /dev/null +++ b/M&T/select_toy/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e8e37c0278ad4336335f9ea9fcd7a85b2c3e647128db18802e4a40eac188005 +size 897701 diff --git a/M&T/select_toy/example14/input/input_mask.png b/M&T/select_toy/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4b091532fa540746dac2160d55e20d0e385975ce --- /dev/null +++ b/M&T/select_toy/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:767b75a0aa4c82c71eed2dc038390f32478dbad9113eac43a8b8e4afae034c81 +size 787881 diff --git a/M&T/select_toy/example14/input/instruction.txt b/M&T/select_toy/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f7a8dc310500df9295b02dd401c573278d20d22 --- /dev/null +++ b/M&T/select_toy/example14/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is known for saying "The Claw is our master." Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example14/output/operation_sequence.json b/M&T/select_toy/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example14/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example15/env_config/env_config.json b/M&T/select_toy/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..770b7ffa69f4226fa6a06588fcf657a10a0f25c0 --- /dev/null +++ b/M&T/select_toy/example15/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.801494254024405e-09, + 5.456602596439632e-10, + -7.61971347856078e-07 + ], + "orientation": [ + 1.0, + -2.42510401760464e-10, + -1.6431333341787773e-09, + 4.585792136585248e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.23465798565969265, + 0.15995754097089077, + 0.770999099130129 + ], + "orientation": [ + 0.9998086617722544, + 0.0008039553962433766, + -0.0003825289418608375, + 0.019540910227105933 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.2693714296094204, + -0.13218988519275576, + 0.7649988443333318 + ], + "orientation": [ + 0.00048030569416586134, + 0.0004792922139530652, + 0.707387806253449, + 0.7068253186957484 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + 0.042856632855395656, + -0.15998624055166458, + 0.7650049439224454 + ], + "orientation": [ + -0.00042903354528895586, + 0.0004858182586119227, + 0.7073875308344384, + 0.7068256228595509 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + -0.10570828857519662, + 0.15658260926224624, + 0.7649986842345807 + ], + "orientation": [ + 0.7068254587639448, + 0.707387991262686, + 1.9490895587125966e-05, + 1.6750702695329378e-05 + ], + "class": "Toy" + } + ], + "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 pluto into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example15/input/input.png b/M&T/select_toy/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..180402ce8d9e6faa4a95c568742d9193ec01f2c1 --- /dev/null +++ b/M&T/select_toy/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b7455360ef1842e7fe000c0aa6c35142e7f7130c5ae6d868a2ec3be2e82d0bd +size 875169 diff --git a/M&T/select_toy/example15/input/input_mask.png b/M&T/select_toy/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c8f535dc319e181b07f16fe4d5447597fbaf8002 --- /dev/null +++ b/M&T/select_toy/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f716bc890671147d2e78fce85280d8a7c74599c37433e49cb28cdd911c1cdbb +size 766019 diff --git a/M&T/select_toy/example15/input/instruction.txt b/M&T/select_toy/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..914a4392334d91165d79de39ea0c445490fd6479 --- /dev/null +++ b/M&T/select_toy/example15/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example15/output/operation_sequence.json b/M&T/select_toy/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example15/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example16/env_config/env_config.json b/M&T/select_toy/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b3079d4de881e8410c24006e192ced3000acebdd --- /dev/null +++ b/M&T/select_toy/example16/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.326409810027577e-09, + -5.8327965778710845e-09, + -7.70447615029842e-07 + ], + "orientation": [ + 1.0, + 7.417166940945107e-10, + -1.6556234752726422e-10, + 3.643694263924838e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2228639545650434, + -0.15909167750728773, + 0.7709990897975348 + ], + "orientation": [ + 0.9976768618562631, + 0.0008216005343437546, + -0.00034299529534031976, + 0.06811818144541246 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.28250629168826236, + 0.13374472605210436, + 0.7650860400645183 + ], + "orientation": [ + 0.0007887561964766467, + -0.0007846611249930513, + 0.7073871910798104, + 0.7068253844244686 + ], + "class": "Toy" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + 0.050040457624684724, + 0.1583822198113354, + 0.7649985675339573 + ], + "orientation": [ + -2.5813904390645837e-05, + -2.5690017367202948e-05, + 0.7073879735274863, + 0.7068254760422406 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.09132948415089509, + -0.15805177402198228, + 0.768281478312762 + ], + "orientation": [ + -0.025524913888388186, + 0.021796602653871882, + 0.7015117838850887, + 0.7118669847338764 + ], + "class": "Toy" + } + ], + "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 flashman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example16/input/input.png b/M&T/select_toy/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..10616dc51be2ca9c5b1ad4e7b7924d267cdd369b --- /dev/null +++ b/M&T/select_toy/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ac18433659288cb000cb58dae371f1ae8ab0baec748f66348b77b0d13ebaf9b +size 896630 diff --git a/M&T/select_toy/example16/input/input_mask.png b/M&T/select_toy/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dbf709bfe95802966bedecf07bfd907bdf83436a --- /dev/null +++ b/M&T/select_toy/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9511b247a580e4b63d61f67d51051603c288743bf0fc52c3e293a767bfd0892e +size 783754 diff --git a/M&T/select_toy/example16/input/instruction.txt b/M&T/select_toy/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6af910ff9f3672caa7042136c38f0c2cb9187d6 --- /dev/null +++ b/M&T/select_toy/example16/input/instruction.txt @@ -0,0 +1 @@ + Please select a character known for incredible agility and reflexes. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example16/output/operation_sequence.json b/M&T/select_toy/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example16/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example17/env_config/env_config.json b/M&T/select_toy/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..183bdc71c2562d7122046ab388350e3522c75b46 --- /dev/null +++ b/M&T/select_toy/example17/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.9312516328939647e-08, + -5.433988642858624e-10, + -7.643547152894719e-07 + ], + "orientation": [ + 1.0, + -4.667821843538559e-12, + 1.996261859176464e-09, + -2.572108125723767e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.0988020086733335, + -0.13614734453886917, + 0.7709990964484003 + ], + "orientation": [ + 0.9986612332065258, + 0.000815854574364156, + -0.00035644342447811386, + 0.05171990545060754 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_0/spiderman_aracnido.xml", + "position": [ + 0.2262952540107107, + 0.15561642129887204, + 0.7658214172354698 + ], + "orientation": [ + 0.7067854928752945, + 0.7073527941402099, + 0.007305016735708533, + -0.0072751916509011996 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.2802614541058923, + 0.15344270896110038, + 0.7613430208269174 + ], + "orientation": [ + -0.0031895851841346116, + 0.0007535009139079983, + 0.7112375757696623, + 0.7029440728792167 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.23307343681373066, + -0.13734292654426095, + 0.7651115403153934 + ], + "orientation": [ + 0.001016899820994625, + -0.0009864864930616871, + 0.7073878751974952, + 0.7068241554889915 + ], + "class": "Toy" + } + ], + "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 spiderman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example17/input/input.png b/M&T/select_toy/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e5a6f4bab41f757379ae2dc838bfe401084b95da --- /dev/null +++ b/M&T/select_toy/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a07fb81caf92dc2717c2122611a3c76909abda1d5243bbb13bb5dfea4c4d7ed1 +size 916076 diff --git a/M&T/select_toy/example17/input/input_mask.png b/M&T/select_toy/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9fe7b4796c8a7ed02d1a90d010adb1b2a1515ee7 --- /dev/null +++ b/M&T/select_toy/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4701e8ac3e65185c2d61d1aeae5b5c453e2fe5eba052f561542f62c91fca34d1 +size 799674 diff --git a/M&T/select_toy/example17/input/instruction.txt b/M&T/select_toy/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2914f30e1de4912673f05beb78882bffcd2b6b5f --- /dev/null +++ b/M&T/select_toy/example17/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy of a character who has spider-like abilities. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example17/output/operation_sequence.json b/M&T/select_toy/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example17/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example18/env_config/env_config.json b/M&T/select_toy/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..59a65a73b23895a3f47a670e23fc416d5096598b --- /dev/null +++ b/M&T/select_toy/example18/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.04502489726277e-08, + 7.49569753541037e-09, + -7.657268270393993e-07 + ], + "orientation": [ + 1.0, + -9.223889706155524e-10, + 5.058401459908195e-10, + -2.111661148658371e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.12253511324555448, + 0.160403290726367, + 0.7709990945086433 + ], + "orientation": [ + 0.9996652677487101, + 0.000806355226673872, + -0.0003774403803266372, + 0.025856523101654445 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.21453816140781773, + -0.14694963284742849, + 0.7649986253706376 + ], + "orientation": [ + -2.3883376588324162e-05, + -2.4371129304292856e-05, + 0.7073879193625388, + 0.7068255303648628 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_0/sanji.xml", + "position": [ + -0.2641811519756569, + -0.14146543013753674, + 0.7654900641636486 + ], + "orientation": [ + 0.7105021351135555, + 0.7036941249912364, + 0.0011095013497467933, + -0.00025191000924912067 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.21758029388030808, + 0.1335169884766155, + 0.764998187956031 + ], + "orientation": [ + 0.7068256969830904, + 0.7073877525330506, + -2.3123660743529655e-05, + -3.340515816985174e-05 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.11808017921911693, + -0.067631799498368, + 0.7612933452491729 + ], + "orientation": [ + 0.7037421085094401, + 0.7103175670182377, + 0.0015194475357284479, + 0.013917254584332225 + ], + "class": "Toy" + } + ], + "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 pluto into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example18/input/input.png b/M&T/select_toy/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b193bb05e0c7838c06393fe3047c945753ad605c --- /dev/null +++ b/M&T/select_toy/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfdfda0fb92d5405e82a0ccc7b2736ececc854b8e483344b5ac0f5be6e55175f +size 956738 diff --git a/M&T/select_toy/example18/input/input_mask.png b/M&T/select_toy/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..895f1bb2adb4fde2f144e381f4c484953b5c975b --- /dev/null +++ b/M&T/select_toy/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cf9d9d33b8e62f2f8c29502e00bc9f6f1be8f19a90c0516ad7c518bd7430d28 +size 826434 diff --git a/M&T/select_toy/example18/input/instruction.txt b/M&T/select_toy/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..914a4392334d91165d79de39ea0c445490fd6479 --- /dev/null +++ b/M&T/select_toy/example18/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example18/output/operation_sequence.json b/M&T/select_toy/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example18/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example19/env_config/env_config.json b/M&T/select_toy/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77b50cf64375946cc15f8d77ebf9a6ecce916aa5 --- /dev/null +++ b/M&T/select_toy/example19/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.4324519391847208e-09, + -1.826756200603667e-10, + -7.656940206167699e-07 + ], + "orientation": [ + 1.0, + -7.132890212706745e-10, + -3.0405013172826845e-09, + 2.1978064242682128e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20224042548722643, + -0.1337419889686423, + 0.7709990961341355 + ], + "orientation": [ + 0.9972131069413674, + 0.0008238105745090566, + -0.0003376514053884356, + 0.07460044686200631 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.25372491708305595, + 0.13025377234363963, + 0.7651550274801625 + ], + "orientation": [ + -0.0014888313720481283, + 0.0014914108788103017, + 0.7073859942646402, + 0.7068243163565909 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.06088478318846138, + 0.15666692456045486, + 0.7650220748935034 + ], + "orientation": [ + -0.0003296704613869895, + 0.0003175742096418072, + 0.7073861814483279, + 0.7068271222583085 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.11223697996338963, + -0.14915596719169089, + 0.7649986986496684 + ], + "orientation": [ + 1.7772745119577288e-05, + 1.49189446734056e-05, + 0.7073877956006449, + 0.7068256546679774 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2649997581893346, + -0.03826132240428492, + 0.7649987927237666 + ], + "orientation": [ + -2.6289892340802777e-05, + -2.6331391113706623e-05, + 0.7073891100708627, + 0.7068243385514206 + ], + "class": "Toy" + } + ], + "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 flashman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example19/input/input.png b/M&T/select_toy/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..91237c6b1c4d666ac45f8f918bb3a9968f62216f --- /dev/null +++ b/M&T/select_toy/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06a85f3cb68d902528cdd75ec6da1e0240439dcd42c69809d86a943b2dcecfca +size 912662 diff --git a/M&T/select_toy/example19/input/input_mask.png b/M&T/select_toy/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2c2d523604d61344be96a4cfff59c9a6f248a901 --- /dev/null +++ b/M&T/select_toy/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93103cb0d2e26ac3ebd38301fb44dd5fd088c0daf99f90a3b2acd1b406da1a90 +size 789919 diff --git a/M&T/select_toy/example19/input/instruction.txt b/M&T/select_toy/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3555564f5bc57f5091b3923a4f34f4abdf7bc096 --- /dev/null +++ b/M&T/select_toy/example19/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is part of the Justice League. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example19/output/operation_sequence.json b/M&T/select_toy/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example19/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example2/env_config/env_config.json b/M&T/select_toy/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b21ae85657983e5044449ce9bca8d52980b91fd2 --- /dev/null +++ b/M&T/select_toy/example2/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.9420949924054986e-08, + 1.2834819694964537e-09, + -7.733285669915758e-07 + ], + "orientation": [ + 1.0, + -2.3876514052320098e-09, + 4.741343593087586e-09, + 2.9219573563349215e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.27027118610819173, + -0.0667018153084727, + 0.7709990899608392 + ], + "orientation": [ + 0.9998335496587187, + 0.0007889367421360557, + -0.0004126050046851644, + -0.01822307089304906 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.23489645581159, + 0.14569300161345083, + 0.7650742360873642 + ], + "orientation": [ + 0.706826554752279, + 0.70738547994709, + -0.0011785240340895658, + 0.0007844349233417874 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + 0.06575726546536793, + -0.15996546895920527, + 0.7653015874599609 + ], + "orientation": [ + 0.7070359667623399, + 0.7071683146821462, + -0.0017473484357142623, + 0.003172252748674021 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.08905032505752872, + 0.16547625833948262, + 0.7661636817087463 + ], + "orientation": [ + 0.706747543516421, + 0.7073123896883569, + 0.01038113305774968, + -0.010455869322506318 + ], + "class": "Toy" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + 0.22847361952185774, + -0.03534994418670746, + 0.7649969982732787 + ], + "orientation": [ + 1.9816852899271656e-05, + 3.366503754499168e-05, + 0.7073881249844324, + 0.7068253243234623 + ], + "class": "Toy" + } + ], + "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 ace into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example2/input/input.png b/M&T/select_toy/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b38ed65978e372a04e88b58b9dbd2170ead9462b --- /dev/null +++ b/M&T/select_toy/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4766654c56359f93b37588134ec570c731f938ebab65d157f3a1db48b8605be2 +size 918405 diff --git a/M&T/select_toy/example2/input/input_mask.png b/M&T/select_toy/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a52d343aecf8112949a3eb5ea64a5553a25d58fb --- /dev/null +++ b/M&T/select_toy/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b80a9f95e9c69e6323322a23a22c2497fd2dce223953d7fcc9b116ff1ec3123b +size 790542 diff --git a/M&T/select_toy/example2/input/instruction.txt b/M&T/select_toy/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fed1eddd4efcb434889edc528e55cfdf47b1b502 --- /dev/null +++ b/M&T/select_toy/example2/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy of a character who is a pirate. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example2/output/operation_sequence.json b/M&T/select_toy/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example2/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example20/env_config/env_config.json b/M&T/select_toy/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f57206c08da7f5a5af268d929959148336f0162f --- /dev/null +++ b/M&T/select_toy/example20/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.0959679548609433e-09, + 2.1881350998004428e-11, + -7.626367289230596e-07 + ], + "orientation": [ + 1.0, + -7.575213736976762e-10, + -6.824115875997275e-10, + 1.2169421252458786e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.06284447081170877, + -0.1353206735423328, + 0.7709990980614263 + ], + "orientation": [ + 0.9986674355749314, + 0.0008158108829568473, + -0.0003565440106250316, + 0.05160000437171682 + ], + "class": "CommonContainer" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2688534205923648, + 0.14487501951958962, + 0.7649986304140572 + ], + "orientation": [ + -2.34768710001314e-05, + -1.970687801586534e-05, + 0.7073880686817461, + 0.7068253810858698 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_1/one_piece_pirate_warriors__tony_tony_chopper.xml", + "position": [ + 0.2077698765063212, + 0.14650300080855372, + 0.7649980511018674 + ], + "orientation": [ + 0.7068257930296051, + 0.7073876576989212, + -7.690627324070608e-07, + -6.535403477591193e-06 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + -0.2721009703425851, + -0.16637039164349107, + 0.7649988861967285 + ], + "orientation": [ + 0.7068250864343198, + 0.7073883632755461, + 1.8360128124473904e-05, + 1.8771404267789682e-05 + ], + "class": "Toy" + } + ], + "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 ironman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ironman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example20/input/input.png b/M&T/select_toy/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..995e812cec8a9ff01ab61930dae400816cbe4049 --- /dev/null +++ b/M&T/select_toy/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eee11458da3d111a7f3ebc0feef27a215297c86360a3f1ccdc2435eab62da0d5 +size 920452 diff --git a/M&T/select_toy/example20/input/input_mask.png b/M&T/select_toy/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..117cccdb8695103e270f77753c54c2cb17708c70 --- /dev/null +++ b/M&T/select_toy/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b058f450e0c44229223600a4088bbcb2a1cc816ce8e4043f3d67ff658ef5d933 +size 809956 diff --git a/M&T/select_toy/example20/input/instruction.txt b/M&T/select_toy/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a39b878b5b4d40067acc11c36c3d38789b22bad6 --- /dev/null +++ b/M&T/select_toy/example20/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is part of the Avengers team from the Marvel IP. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example20/output/operation_sequence.json b/M&T/select_toy/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example20/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example21/env_config/env_config.json b/M&T/select_toy/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4b971f63cc5b2bf5ca0ca05e2ae1c010fe35e186 --- /dev/null +++ b/M&T/select_toy/example21/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.25404820672923e-09, + 8.525864835233658e-10, + -7.697255977291335e-07 + ], + "orientation": [ + 1.0, + 7.496583726240041e-10, + 6.800587701090824e-10, + 1.0547449745329374e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.2534868867540983, + 0.16173831439600392, + 0.7709990912690201 + ], + "orientation": [ + 0.999051418076867, + 0.0007782379891235356, + -0.000432455766833396, + -0.043537011452817014 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + 0.21611690853226045, + -0.1461610907095917, + 0.7650371260261318 + ], + "orientation": [ + 0.706826241979163, + 0.7073869304532542, + 0.00041583288193757835, + -0.0004704854419644124 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.05270710431963765, + 0.15397319519215902, + 0.7659319148894094 + ], + "orientation": [ + 0.7067734448578475, + 0.7073363424779616, + 0.008533035466578683, + -0.008589735700042136 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.09794006174828315, + -0.13603676447895138, + 0.765753285899206 + ], + "orientation": [ + 0.7067934938735262, + 0.7073565791732019, + 0.00666687766955635, + -0.006721581702203801 + ], + "class": "Toy" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.26034862760023086, + -0.0571964834206092, + 0.7651915414315835 + ], + "orientation": [ + 0.7068625021354896, + 0.7073468268689196, + -0.0015839755265983925, + 0.0018331979589984334 + ], + "class": "Toy" + } + ], + "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 jessie into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example21/input/input.png b/M&T/select_toy/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9563d6d1a5eab068ead69ebb6eaa7a0d6be694d2 --- /dev/null +++ b/M&T/select_toy/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0456651e3c52da4198c00986762e5339f525bedd389ffcb46b05d5ab3e2a4abb +size 940240 diff --git a/M&T/select_toy/example21/input/input_mask.png b/M&T/select_toy/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..97f3cc18ed42047c1b9b7215af3a31def9c1799e --- /dev/null +++ b/M&T/select_toy/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fddf401d4a383062aa1a712b748b09d5137127b4dd0c44a0b2be615c4f3fc67a +size 814245 diff --git a/M&T/select_toy/example21/input/instruction.txt b/M&T/select_toy/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6c18668857ba9903dfb800fb2b9735823170f1ec --- /dev/null +++ b/M&T/select_toy/example21/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that has a pull-string feature. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example21/output/operation_sequence.json b/M&T/select_toy/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example21/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example22/env_config/env_config.json b/M&T/select_toy/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..656ffe9ec2bbb40371bc1ff035d7c52ee5f56a79 --- /dev/null +++ b/M&T/select_toy/example22/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.7815537259317146e-09, + 4.8704097756682985e-11, + -7.697726666313445e-07 + ], + "orientation": [ + 1.0, + -1.3261172924160478e-09, + 7.281010093815637e-10, + 4.645611360151774e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.25642123280142104, + -0.06406764719534193, + 0.7709990911782235 + ], + "orientation": [ + 0.9984791626014254, + 0.0007731669862680962, + -0.00044145438641059865, + -0.05512321817157903 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + 0.2041931558143601, + 0.14469707401835893, + 0.7651878405781266 + ], + "orientation": [ + 0.7068232315713443, + 0.7073860146015022, + -0.0017198466976131115, + 0.0017285209227559575 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.06724480969728067, + -0.14440424506983543, + 0.7650779600959208 + ], + "orientation": [ + 0.7068251400546701, + 0.7073875926246393, + 0.0007388422587348942, + -0.0006850543997487338 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.11902712942848079, + 0.13413010474672105, + 0.7649977615355138 + ], + "orientation": [ + -1.8150301851271806e-05, + -2.4508994695778273e-05, + 0.7073882731710921, + 0.7068251764403254 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + 0.2052677850933421, + -0.057726686628155936, + 0.7649987504776825 + ], + "orientation": [ + 0.70682521943252, + 0.7073882283601561, + -4.1132642314221164e-05, + -4.3124893529796075e-05 + ], + "class": "Toy" + } + ], + "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 vision into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example22/input/input.png b/M&T/select_toy/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1bcdb3bbf82277b494af500c9f7df0760baba119 --- /dev/null +++ b/M&T/select_toy/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f26980d89219c641e4e2a8e8ff9be718763941c942869e6b78e6961e1594d959 +size 904507 diff --git a/M&T/select_toy/example22/input/input_mask.png b/M&T/select_toy/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cfc3b9ef483e4e52547e83a0c775f518f5949fc1 --- /dev/null +++ b/M&T/select_toy/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a20a5997d3696a7785108a3032708951cff0f0f810299d305b585746d767c0a +size 772266 diff --git a/M&T/select_toy/example22/input/instruction.txt b/M&T/select_toy/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee4b3568ec3621be33bb350fc1c632a44b93b573 --- /dev/null +++ b/M&T/select_toy/example22/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is an artificial intelligence. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example22/output/operation_sequence.json b/M&T/select_toy/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example22/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example23/env_config/env_config.json b/M&T/select_toy/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f11a642c636d2b8f1fbd863c18f8b86a88e94fb9 --- /dev/null +++ b/M&T/select_toy/example23/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 9.39037372000053e-08, + 1.8090600773379175e-07, + -8.027931560373709e-07 + ], + "orientation": [ + 0.9999999999999992, + 5.091287223252618e-10, + 2.8698915950911488e-09, + -9.621500646324486e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.05493508020113134, + 0.13703486229077094, + 0.770999057438268 + ], + "orientation": [ + 0.9975871677820308, + 0.000766766118039686, + -0.00045248140635912584, + -0.06941937774803396 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.3228404383607864, + -0.1560345151385386, + 0.816070364467604 + ], + "orientation": [ + 0.5383935603260375, + -0.21146032643415236, + 0.2403112661385283, + 0.7795302431020322 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.22846495638506822, + -0.13419601999827793, + 0.7613432776505747 + ], + "orientation": [ + 0.7029787095074805, + 0.7112023292839591, + -0.0007869723235851702, + 0.003400216880035065 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.26905907984396876, + 0.169029586944218, + 0.7657416144246181 + ], + "orientation": [ + -0.0066005122433949875, + 0.006572393660812987, + 0.7073573888757441, + 0.7067947094330728 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.1311871052247957, + -0.06968586159295763, + 0.7685209262250994 + ], + "orientation": [ + -0.01961428238772917, + -0.00184204778762773, + 0.6840533428050061, + 0.7291659008645842 + ], + "class": "Toy" + } + ], + "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 donald into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "donald" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example23/input/input.png b/M&T/select_toy/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f1fa9e6688ce2396b0a0d9f2463c19734386f3a1 --- /dev/null +++ b/M&T/select_toy/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56766d79c55afd5742b68a2dfb14444f6342afb161c30237012438e7d748276e +size 907928 diff --git a/M&T/select_toy/example23/input/input_mask.png b/M&T/select_toy/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..78dea914fa87dbd4a6298a77ddaed7e93ee032c5 --- /dev/null +++ b/M&T/select_toy/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57933be05d61d3849ae8fbc1aaa06ace8f261f106d81db1d8d20e9b596d25ae0 +size 780986 diff --git a/M&T/select_toy/example23/input/instruction.txt b/M&T/select_toy/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6e586278f5f27fc90bdc43c55cd7779ad1aaf898 --- /dev/null +++ b/M&T/select_toy/example23/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy which has a sailor costume. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example23/output/operation_sequence.json b/M&T/select_toy/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example23/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example24/env_config/env_config.json b/M&T/select_toy/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b7ef08c7da2ff12f0f614388ac075297d74e5c83 --- /dev/null +++ b/M&T/select_toy/example24/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.432102648722926e-09, + 6.268538563992675e-09, + -7.760255062386425e-07 + ], + "orientation": [ + 1.0, + -4.646862137029575e-09, + 5.266220864785198e-09, + -1.5575579870905588e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.261430253213832, + -0.06912789371118609, + 0.7709990877777094 + ], + "orientation": [ + 0.9995148414750818, + 0.0008083329336880172, + -0.0003731734792921682, + 0.03113340666334483 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.2384954210432172, + 0.16253836119434836, + 0.7649974530575159 + ], + "orientation": [ + 0.7068226423549772, + 0.7073908054386371, + -2.5179982323499545e-05, + 1.0828112843431058e-06 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.07559765534308902, + -0.1415696975238727, + 0.7663350756114891 + ], + "orientation": [ + 0.7130572929231067, + 0.7010221404501026, + 0.010730978118430795, + -0.0014497298194067402 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.09364837694911965, + 0.16517093437725766, + 0.7663333288942122 + ], + "orientation": [ + 0.7067272262266108, + 0.7072882383223312, + 0.011861938621147745, + -0.011801273367005566 + ], + "class": "Toy" + } + ], + "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 donald into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "donald" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example24/input/input.png b/M&T/select_toy/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c10e420b49e70611f98ba802ae6c11e6df72c682 --- /dev/null +++ b/M&T/select_toy/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6029c726eb0ae774ee937501a9d8ba91cf9610d2e32845b7fc782201a903f351 +size 913231 diff --git a/M&T/select_toy/example24/input/input_mask.png b/M&T/select_toy/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..963b320061db3b5ef4395f47cc9f8d4926251bce --- /dev/null +++ b/M&T/select_toy/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea417a9a477cfb6704621804565a066b8fe3b5feff186e77fb7cdac3028d314b +size 791937 diff --git a/M&T/select_toy/example24/input/instruction.txt b/M&T/select_toy/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..914a4392334d91165d79de39ea0c445490fd6479 --- /dev/null +++ b/M&T/select_toy/example24/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example24/output/operation_sequence.json b/M&T/select_toy/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example24/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example25/env_config/env_config.json b/M&T/select_toy/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8e30326fa78cc74a7081990d7a346d1868e49b2d --- /dev/null +++ b/M&T/select_toy/example25/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1458770877898022e-07, + -2.2090475256217276e-08, + -8.106322636337968e-07 + ], + "orientation": [ + 0.9999999999999999, + 4.445727086647871e-09, + -5.612640426873134e-09, + 9.773373457287885e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.23256311669864804, + -0.15686721852016616, + 0.7709990510094206 + ], + "orientation": [ + 0.999417397448752, + 0.0007822834613794143, + -0.0004251073576777988, + -0.03411851393429681 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.27541284351834133, + 0.16984370306774316, + 0.7673044428264935 + ], + "orientation": [ + -0.020437349649870304, + 0.02049987592441234, + 0.7070902107851147, + 0.7065306105458089 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.06872538624360826, + 0.14669544075911892, + 0.7649984292967156 + ], + "orientation": [ + -2.194651466430463e-05, + -2.2936927074283693e-05, + 0.7073882714889224, + 0.7068251780689223 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.0984369176357257, + -0.1337491598136928, + 0.7659983725895079 + ], + "orientation": [ + 0.7116080592023046, + 0.7025530706854123, + -0.0035469707503394186, + 0.004535630862778189 + ], + "class": "Toy" + } + ], + "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 spiderman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example25/input/input.png b/M&T/select_toy/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9ea763ea25a743239b8244835b192efb65fe749d --- /dev/null +++ b/M&T/select_toy/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:947ea3c73433f0b118733774d5b6258acc417de2c3386a8d35e30571ef720321 +size 902556 diff --git a/M&T/select_toy/example25/input/input_mask.png b/M&T/select_toy/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..04c62a70bfbdc5418f7398a348a43e3d581ba4f7 --- /dev/null +++ b/M&T/select_toy/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0e70c4dd1922b1c404d5945e2a9a436b003dd1ab8908f537d0ae5dbbe4f1bf2 +size 777747 diff --git a/M&T/select_toy/example25/input/instruction.txt b/M&T/select_toy/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b6fb986ebe53685c229ad96e91a42dce21b6f70e --- /dev/null +++ b/M&T/select_toy/example25/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy of a character who has the ability to cling to most surfaces. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example25/output/operation_sequence.json b/M&T/select_toy/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example25/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example26/env_config/env_config.json b/M&T/select_toy/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..35bda6bb8560aeb6633548c49393df0da8b099a4 --- /dev/null +++ b/M&T/select_toy/example26/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.4182142860669966e-08, + -4.875470646105049e-10, + -7.729681216316879e-07 + ], + "orientation": [ + 1.0, + 3.3483167015417092e-09, + -4.744886799779943e-09, + 3.005335893310194e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.21164997832979116, + 0.1691103816235758, + 0.7709990905808575 + ], + "orientation": [ + 0.9997012278896441, + 0.0008058186860911856, + -0.0003785986873022438, + 0.024426671390440965 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.27917002736875546, + -0.15842058281153032, + 0.7649969985901771 + ], + "orientation": [ + -7.406183228691595e-06, + 1.345862459947783e-05, + 0.7073943209626192, + 0.7068191242700281 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + 0.06999288518978272, + -0.15001063690006006, + 0.765002384039481 + ], + "orientation": [ + -0.00011637714699466335, + 0.00017730074311337902, + 0.7073877718825204, + 0.7068256469681121 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.12642300713685362, + 0.1633354205931403, + 0.7598838148645849 + ], + "orientation": [ + 0.7073894641174419, + 0.7068196622364409, + 0.0014467608455323504, + 0.0020044986047885334 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.10918777405450471, + -0.05943554059164074, + 0.7670079491967144 + ], + "orientation": [ + 0.018129736061098755, + -0.018029248037381974, + 0.7071579592992936, + 0.7065931498997299 + ], + "class": "Toy" + } + ], + "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 ace into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example26/input/input.png b/M&T/select_toy/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a78c5ee5a473207bcd36a25d3f8de1b2f9279172 --- /dev/null +++ b/M&T/select_toy/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceb8522fd5235f37ce8ff0bacb3c0c61ce7d8192ca829e08ad3ee1f0eae32ca1 +size 919226 diff --git a/M&T/select_toy/example26/input/input_mask.png b/M&T/select_toy/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d99ee6a34058956d1c772661e0bbb19d387d91f0 --- /dev/null +++ b/M&T/select_toy/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d96f5a77f32f7356460fd962fc651f931bdee2cfa2bdc687450d446049e2880a +size 790593 diff --git a/M&T/select_toy/example26/input/instruction.txt b/M&T/select_toy/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc01b46b224ea25e93d0de6c8dba4367b59db6dc --- /dev/null +++ b/M&T/select_toy/example26/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy who is the 2nd division commander of the Whitebeard Pirates. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example26/output/operation_sequence.json b/M&T/select_toy/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example26/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example27/env_config/env_config.json b/M&T/select_toy/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1d2ced7365474846319261ecdc4ccc8bf6b055 --- /dev/null +++ b/M&T/select_toy/example27/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0426996294013396e-08, + -3.27270322442876e-10, + -7.72817707392643e-07 + ], + "orientation": [ + 1.0, + -5.466909067692676e-10, + -9.534715856768676e-10, + -4.695029422779294e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.0563908313152843, + -0.05375687504586836, + 0.7709990877565448 + ], + "orientation": [ + 0.9993600056863848, + 0.0007815789751552793, + -0.00042638736225601004, + -0.03576012251982129 + ], + "class": "CommonContainer" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + -0.27044457369521646, + 0.15412730438186434, + 0.7663309649459719 + ], + "orientation": [ + 0.011863725938692497, + -0.011782330905654429, + 0.7072896903782318, + 0.7067260590709424 + ], + "class": "Toy" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.27465086722653054, + -0.14967944995378946, + 0.7649974663315752 + ], + "orientation": [ + 4.953715194313694e-06, + -1.969042551705216e-05, + 0.707387636867628, + 0.7068258136164681 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.2054508113952623, + 0.1419214667788732, + 0.7651927540657458 + ], + "orientation": [ + 0.0024533729976253535, + -0.0023937336246642755, + 0.7073837932805025, + 0.7068213494259746 + ], + "class": "Toy" + } + ], + "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 ironman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ironman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example27/input/input.png b/M&T/select_toy/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9cefe22269072f32fb0236fc75f76cd5c316dc63 --- /dev/null +++ b/M&T/select_toy/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a92cabf188ed129f51bf0beab5d39fae1e31389f9dac74fb4a701eaa0960c012 +size 927568 diff --git a/M&T/select_toy/example27/input/input_mask.png b/M&T/select_toy/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..943cb98249d70626aa7d1f918f944698811f707b --- /dev/null +++ b/M&T/select_toy/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81c8ea1ee18c2368e17d9b1b6c0d2fd3a88bc46c1e5053a51904c1f1c2174a01 +size 813552 diff --git a/M&T/select_toy/example27/input/instruction.txt b/M&T/select_toy/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e113d3d7e8c680913a03a2d853180f499d724c8b --- /dev/null +++ b/M&T/select_toy/example27/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that can fly using jet propulsion. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example27/output/operation_sequence.json b/M&T/select_toy/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example27/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example28/env_config/env_config.json b/M&T/select_toy/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..73eb920497dbdacbd3356aa77bb09b3406bbdf87 --- /dev/null +++ b/M&T/select_toy/example28/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.546590143995332e-11, + 1.2115073587767051e-11, + -7.604997343862999e-07 + ], + "orientation": [ + 1.0, + 2.9894337681592107e-10, + -1.2639709985281171e-09, + 9.92195594232435e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.045255419314469664, + 0.16350027459367913, + 0.7709991001198806 + ], + "orientation": [ + 0.999609572163089, + 0.0007848974767757405, + -0.0004202491911905069, + -0.02792687892505604 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.2822570928619013, + -0.15534013211481681, + 0.7649979681352574 + ], + "orientation": [ + 0.7068254899880608, + 0.707387959195401, + 2.2073906718321966e-05, + 3.743322742320385e-05 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.21516012709754742, + -0.15780392327260956, + 0.7649917998860757 + ], + "orientation": [ + 0.70682557403325, + 0.7073878756222015, + -1.8235903018844302e-05, + 3.134847759920593e-05 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.26733009559626386, + 0.15808563176620302, + 0.7650847865675618 + ], + "orientation": [ + 0.00081341171011388, + -0.0008569506426455961, + 0.7073872276001942, + 0.7068252359848921 + ], + "class": "Toy" + } + ], + "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 pluto into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example28/input/input.png b/M&T/select_toy/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f8b287ed39c78597f917a83727acbfac329ff211 --- /dev/null +++ b/M&T/select_toy/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f187c628e9f4ec7fdaa023f39f06a815f43aed1ce5739516aa27bea0c562462c +size 891541 diff --git a/M&T/select_toy/example28/input/input_mask.png b/M&T/select_toy/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3b62a139b96e6c1dffef630bfe5ec201eb7efdfc --- /dev/null +++ b/M&T/select_toy/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6ece5c86f05831149bfac0bb8e0a87c0a1f44003fd86800b522f7a889c6485e +size 773491 diff --git a/M&T/select_toy/example28/input/instruction.txt b/M&T/select_toy/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..25c75dad08878d04bc9813904e353772a03eb590 --- /dev/null +++ b/M&T/select_toy/example28/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is a non-speaking character from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example28/output/operation_sequence.json b/M&T/select_toy/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example28/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example29/env_config/env_config.json b/M&T/select_toy/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4beda8149fd7a919f2c3698a2c25d607f0d6f8f7 --- /dev/null +++ b/M&T/select_toy/example29/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.575231660580396e-08, + -4.950475773772298e-11, + -7.682962358532397e-07 + ], + "orientation": [ + 1.0, + 2.052352224194522e-09, + -1.9858775874698125e-09, + -6.145180257026379e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2144360749532447, + 0.03713887242919879, + 0.7709990931151822 + ], + "orientation": [ + 0.9997571677365872, + 0.0008049031486986115, + -0.00038053588101290243, + 0.022018466855855862 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.25902093836842394, + -0.15643986574635346, + 0.765116386438314 + ], + "orientation": [ + 0.001405950122520617, + -0.0014320947886570453, + 0.707386088413312, + 0.706824514521168 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + -0.1011079072168706, + 0.14142945841469012, + 0.7617463101277382 + ], + "orientation": [ + 0.707225265610352, + 0.7069552815395586, + 0.0008240477723389199, + -0.006780452120613177 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.04392766786722647, + -0.15291124518628021, + 0.7649978553429673 + ], + "orientation": [ + 0.7068254007709797, + 0.7073880494056115, + 1.9654858005212893e-06, + 1.9473178569836836e-05 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.0884588271025115, + -0.05193621792400246, + 0.7650092439028616 + ], + "orientation": [ + -3.90252389276603e-05, + 0.00017033237836035163, + 0.7073869788001883, + 0.7068264508971452 + ], + "class": "Toy" + } + ], + "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 ace into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example29/input/input.png b/M&T/select_toy/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a34134b2645485c1de1265e5b2eaf76c24e4cfca --- /dev/null +++ b/M&T/select_toy/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eac0f8c986e436d7442725896f29ce0bd150620f5a3c57a49d1b9168396dd0fc +size 917846 diff --git a/M&T/select_toy/example29/input/input_mask.png b/M&T/select_toy/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..029d4443296e4f13af350a5d92293309e0bc1d35 --- /dev/null +++ b/M&T/select_toy/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01b2ace59b6f16f04379f57e7bb7d01fbbe9b29a8751e05a2c49858a794d11e4 +size 798397 diff --git a/M&T/select_toy/example29/input/instruction.txt b/M&T/select_toy/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff472769f93d6dea091f2ef91da257dba42ddac6 --- /dev/null +++ b/M&T/select_toy/example29/input/instruction.txt @@ -0,0 +1 @@ + Please pick a toy with the Logia type of Devil Fruit power. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example29/output/operation_sequence.json b/M&T/select_toy/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example29/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example3/env_config/env_config.json b/M&T/select_toy/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3af212d21355693b2bb392ffdfd663d1a437b4c6 --- /dev/null +++ b/M&T/select_toy/example3/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.358557337611935e-08, + 2.4731152054329714e-09, + -8.074463676848336e-07 + ], + "orientation": [ + 0.9999999999999994, + 1.504452948005748e-08, + 5.872071666408783e-09, + -1.3221790355873096e-08 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.20362802234164004, + 0.049774165006490755, + 0.7709990520650785 + ], + "orientation": [ + 0.9999235134459694, + 0.0007913698898838711, + -0.0004079513542592144, + -0.012335905611572209 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2511353655332336, + -0.16849726783027907, + 0.7680008013834513 + ], + "orientation": [ + 0.706323133154834, + 0.706882689746163, + 0.026718140076925342, + -0.026657747436688577 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + -0.08956096484069466, + 0.15482765366025986, + 0.7649986687607574 + ], + "orientation": [ + 0.7068252457951829, + 0.7073882043834826, + -8.218006345989272e-06, + -1.175399259957313e-05 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + 0.05426601726784858, + -0.16195442897644943, + 0.7657739285772828 + ], + "orientation": [ + -0.007435237188866349, + 0.0068352043299123, + 0.7072803563688614, + 0.7068610151397868 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.09348473712348182, + -0.06031580523383228, + 0.7649987668288416 + ], + "orientation": [ + 2.6765010454110653e-05, + 2.616125966657761e-05, + 0.707388509405975, + 0.7068249396842307 + ], + "class": "Toy" + } + ], + "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 jessie into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example3/input/input.png b/M&T/select_toy/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bc80538d859eb081d61824e39c74bb5ed3da919e --- /dev/null +++ b/M&T/select_toy/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4eb93de01c84fcad5a64659392a1f0176e28390dda3ed06c45d5833980ed590 +size 903937 diff --git a/M&T/select_toy/example3/input/input_mask.png b/M&T/select_toy/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e441a3fa199127de974fc957069da81ed08b86fb --- /dev/null +++ b/M&T/select_toy/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:447f21495e639a36fea0e613d13a0384a74eb508d02f86ce54d5898ec4a1537d +size 773929 diff --git a/M&T/select_toy/example3/input/instruction.txt b/M&T/select_toy/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b6f7551ce6155713fa5298a8cbe5051a9c34499 --- /dev/null +++ b/M&T/select_toy/example3/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Toy Story IP. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example3/output/operation_sequence.json b/M&T/select_toy/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example3/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example30/env_config/env_config.json b/M&T/select_toy/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..61bb8dcb177a8ee349673e3215cc1df8b343e834 --- /dev/null +++ b/M&T/select_toy/example30/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.622693086392642e-08, + 3.370620409435637e-10, + -7.740461953995162e-07 + ], + "orientation": [ + 1.0, + 4.210314143829974e-11, + 4.581973604508998e-09, + 6.297051181172021e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.27823132310380216, + 0.03199681607180327, + 0.7709990889136117 + ], + "orientation": [ + 0.9999409131445778, + 0.0007919667318503222, + -0.0004067638256950436, + -0.010834092092754244 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + 0.22180514456331774, + -0.14133699810472614, + 0.7665999923273804 + ], + "orientation": [ + 0.7066843287044599, + 0.7072439705764548, + 0.014230103043681998, + -0.014167914954012113 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.042886394432119376, + 0.16897849104289536, + 0.7649989602978671 + ], + "orientation": [ + 0.7068248121185657, + 0.7073886374767988, + 1.633380339884281e-05, + 1.659755210428282e-05 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.11288560601218835, + -0.14302346591304269, + 0.7649986118819231 + ], + "orientation": [ + 0.7068251300871121, + 0.7073883200638275, + 7.3090821886218274e-06, + 7.822484667230304e-06 + ], + "class": "Toy" + } + ], + "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 luffy into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "luffy" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example30/input/input.png b/M&T/select_toy/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f5ecac523c6227407bd54fda7aa07dd5d302cc93 --- /dev/null +++ b/M&T/select_toy/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db80500cd1021e91e8aa2da19235ad23e2a58046299af2c30098ddb25d7cc35f +size 933321 diff --git a/M&T/select_toy/example30/input/input_mask.png b/M&T/select_toy/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c5c91ba2b2b270bfaade038f5fd3f9ff86d80d06 --- /dev/null +++ b/M&T/select_toy/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8cbb0dfad14fe21b1a5eecfe7d9f7610b1e222deafc5a55174bfdb16550c9db +size 813823 diff --git a/M&T/select_toy/example30/input/instruction.txt b/M&T/select_toy/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6f594cffe95a613a43e13844cde4ed52d1f616ab --- /dev/null +++ b/M&T/select_toy/example30/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the One Piece IP. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example30/output/operation_sequence.json b/M&T/select_toy/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example30/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example31/env_config/env_config.json b/M&T/select_toy/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f2e9f63e02333771e225a0548e4280667a390ba5 --- /dev/null +++ b/M&T/select_toy/example31/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.847008571820106e-08, + 2.403954744632988e-10, + -7.738662851447763e-07 + ], + "orientation": [ + 1.0, + -6.042415656115134e-10, + 1.3701777199805698e-09, + 3.994892833853568e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.07591675746399493, + -0.053118734955568264, + 0.7709990863969732 + ], + "orientation": [ + 0.9999637766719282, + 0.0007929277019098347, + -0.00040488940569068023, + -0.008464790265674954 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.28870376273027104, + 0.14755723011193173, + 0.7651912396133551 + ], + "orientation": [ + 0.7068231599242581, + 0.7073859765451009, + 0.0017607335352159536, + -0.0017322238421047878 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.2785033482125154, + -0.14100880914257427, + 0.7650784984473927 + ], + "orientation": [ + -0.000684536535650233, + 0.0007411908767217046, + 0.7073874505629795, + 0.706825280272165 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.23650758457346444, + 0.15108767508525883, + 0.7659609766606882 + ], + "orientation": [ + -0.008839480246623387, + 0.00876845186562812, + 0.707333162873555, + 0.7067706661570938 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.11005586195726895, + 0.030729221082331448, + 0.7650378410903135 + ], + "orientation": [ + 0.7068985689533899, + 0.7073145839869254, + 0.0006736592163368225, + -0.0001966578545539547 + ], + "class": "Toy" + } + ], + "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 vision into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example31/input/input.png b/M&T/select_toy/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cd45bb6beab413cac7044e378e9aa952d31144b2 --- /dev/null +++ b/M&T/select_toy/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c01232db1d6fbee01e00cff7a4d116f3fb147330935e030a67b4500617f206c1 +size 873816 diff --git a/M&T/select_toy/example31/input/input_mask.png b/M&T/select_toy/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6b933d839f9adf425e320ec3fddddc8d820c40a1 --- /dev/null +++ b/M&T/select_toy/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9fb1077add209d49cfc37831d823b50278c1df54def8dd2c4c4cb275fa57b34 +size 755088 diff --git a/M&T/select_toy/example31/input/instruction.txt b/M&T/select_toy/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7271595512487d595fb6638a39d7c0d1b8fb603 --- /dev/null +++ b/M&T/select_toy/example31/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is capable of flying and has superhuman strength. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example31/output/operation_sequence.json b/M&T/select_toy/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example31/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example32/env_config/env_config.json b/M&T/select_toy/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c753771c23a9432438f586ee03bd88ec9dcb10d2 --- /dev/null +++ b/M&T/select_toy/example32/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.4054366467128558e-09, + -1.899864126298687e-11, + -7.59456188929261e-07 + ], + "orientation": [ + 1.0, + -1.2361905565385749e-12, + -8.370062591539973e-10, + -9.961086910201932e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.05726960983171277, + 0.14700447091752514, + 0.7709991010469417 + ], + "orientation": [ + 0.9975840595985501, + 0.0007667456109984629, + -0.00045251945990385607, + -0.06946402926826159 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.27264432466174465, + -0.1312458721224143, + 0.759872368358982 + ], + "orientation": [ + 0.707081574725618, + 0.7071290755076295, + -0.001673505482114352, + -0.0011474470205872912 + ], + "class": "Toy" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.23436569891324774, + -0.1564388519115451, + 0.7649900978120838 + ], + "orientation": [ + 2.895116002152686e-06, + -4.9802872461545645e-05, + 0.7073878827182215, + 0.7068255661015126 + ], + "class": "Toy" + }, + { + "name": "wonder_woman", + "xml_path": "obj/meshes/toys/DC/wonder_woman/wonder_woman_0/wonder_womantexturedrigged.xml", + "position": [ + -0.2621831445107868, + 0.14664053817337927, + 0.7660672022499925 + ], + "orientation": [ + 0.009546185966238959, + -0.009500965273598306, + 0.7073238592881671, + 0.706761317612998 + ], + "class": "Toy" + } + ], + "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 mickey into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "mickey" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example32/input/input.png b/M&T/select_toy/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bb48ab211258a1ede324420193f6562d35c74044 --- /dev/null +++ b/M&T/select_toy/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7010ebb8e4c85bcb00243b8292112880a153473c4a9dceae12a928ebc072c515 +size 892175 diff --git a/M&T/select_toy/example32/input/input_mask.png b/M&T/select_toy/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6a6ed5acddd2d5db3fd0fb8528362f3f2a9d2d9 --- /dev/null +++ b/M&T/select_toy/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11442158d39cba1ce68b9dfc722bcbc7a3d6264eed3e3e6b391daeddee5b5b8d +size 778888 diff --git a/M&T/select_toy/example32/input/instruction.txt b/M&T/select_toy/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a08cedfdfc6c072949a586fc86ae9e7cb16e2042 --- /dev/null +++ b/M&T/select_toy/example32/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is known for being cheerful and optimistic, as characterized in the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example32/output/operation_sequence.json b/M&T/select_toy/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example32/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example33/env_config/env_config.json b/M&T/select_toy/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ee602ded0522accdc8b17f7be25a13fef8e9b643 --- /dev/null +++ b/M&T/select_toy/example33/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8112290950636188e-08, + -6.772362514872608e-09, + -7.728032335120969e-07 + ], + "orientation": [ + 1.0, + 4.421369305729779e-09, + -2.0302954558592143e-10, + -4.705244121131862e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.2542969151260116, + 0.034964651628501306, + 0.7709990878100813 + ], + "orientation": [ + 0.9998196351496784, + 0.0008037419682484027, + -0.0003829856739990573, + 0.018971148884191377 + ], + "class": "CommonContainer" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + 0.21342430918599867, + -0.1427574075298845, + 0.7657293592010624 + ], + "orientation": [ + -0.0002590640066609509, + -0.000262448730264728, + 0.7008856929433416, + 0.7132735165655849 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_1/play_station_2_-_disney_move_-_daisy_duck.xml", + "position": [ + 0.05700098203953547, + 0.16997546492493557, + 0.7649985592211871 + ], + "orientation": [ + 0.7068228081357859, + 0.7073906394651539, + 2.1849853711325188e-05, + 2.4873809085521976e-05 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml", + "position": [ + -0.10635626354841099, + -0.15488814012163946, + 0.766338377002691 + ], + "orientation": [ + 0.7100720847006544, + 0.7040239561419117, + -0.008440157846481913, + 0.008755994671304092 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + 0.0483063349301862, + -0.04599847269295065, + 0.76577601367716 + ], + "orientation": [ + -0.006993261288247226, + 0.00695272296985212, + 0.707354407438043, + 0.7067902773933964 + ], + "class": "Toy" + } + ], + "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 sanji into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "sanji" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example33/input/input.png b/M&T/select_toy/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cd96597fe39659076b6ca7e823e8f98a0b6e5817 --- /dev/null +++ b/M&T/select_toy/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7619a1d0e5917f903d86320db867d6a5971af73d2ec33c80d3fdaca6cada22cb +size 910695 diff --git a/M&T/select_toy/example33/input/input_mask.png b/M&T/select_toy/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d5b8ff6d94a707c5f50e9efda3ebfa0ba832c3b5 --- /dev/null +++ b/M&T/select_toy/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5816f667f2321e438ec6f14e24df6c0b1d5f90139029845b4af90c6947e09ec4 +size 780910 diff --git a/M&T/select_toy/example33/input/instruction.txt b/M&T/select_toy/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..841128e611393b414e82a45d53db8a2bf2ece059 --- /dev/null +++ b/M&T/select_toy/example33/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy with blond hair. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example33/output/operation_sequence.json b/M&T/select_toy/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example33/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example34/env_config/env_config.json b/M&T/select_toy/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e14323ebb894bca84909e650a950d3ac56ba42 --- /dev/null +++ b/M&T/select_toy/example34/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.358323258538624e-08, + 1.358398904086855e-08, + -7.696269700664329e-07 + ], + "orientation": [ + 1.0, + -4.60417012108197e-09, + 1.8445812903078158e-09, + -7.5204336005243e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.06341395386714316, + -0.23333644971334574, + 0.8998084349013727 + ], + "orientation": [ + 0.9359987868439652, + -0.26166444017823903, + 0.18162121377269844, + -0.14983900186721907 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + 0.21196388853007261, + 0.13431156497301178, + 0.767515222129538 + ], + "orientation": [ + -0.022316342844755675, + 0.022376945394077905, + 0.7070336551398786, + 0.7064733991145091 + ], + "class": "Toy" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.25526967998881456, + 0.15561806168702402, + 0.7650256350847434 + ], + "orientation": [ + 0.0008119404547957899, + -0.0007592599680483604, + 0.707387221489886, + 0.7068253554802765 + ], + "class": "Toy" + }, + { + "name": "rex", + "xml_path": "obj/meshes/toys/disney/toystory/rex/rex_0/disney_infinity_rex_toy_story.xml", + "position": [ + 0.18208700374817746, + -0.13560377187789915, + 0.8102184808438422 + ], + "orientation": [ + 0.6590012214636094, + 0.43766991192316507, + 0.0563688044769189, + -0.6090853767646061 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.31049706478733846, + -0.017131074473333653, + 0.7661340877399461 + ], + "orientation": [ + -0.7216472944893854, + -0.6887177467599533, + 0.03364062632409421, + 0.061329894134640475 + ], + "class": "Toy" + } + ], + "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 jessie into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example34/input/input.png b/M&T/select_toy/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..249f62f486b47e8199b5ed4bfd7805eb0aa1c71f --- /dev/null +++ b/M&T/select_toy/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a75ba0b84a8dff94bacef1cccc3016df53e63276c5ae0363b74437e5ad2e46c +size 944959 diff --git a/M&T/select_toy/example34/input/input_mask.png b/M&T/select_toy/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4ad8c78ce20227c94c2ff7387460d0dcda5d5a26 --- /dev/null +++ b/M&T/select_toy/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec3cc5179b2602f583d606bd08489856e7ef60664e629a89f40cdfd94a25a2aa +size 817668 diff --git a/M&T/select_toy/example34/input/instruction.txt b/M&T/select_toy/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..51c326300c26484d7177db6fb686e87efc42527d --- /dev/null +++ b/M&T/select_toy/example34/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is known for yodeling. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example34/output/operation_sequence.json b/M&T/select_toy/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example34/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example35/env_config/env_config.json b/M&T/select_toy/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..428c7f56ac24f27e7fc7727b6cbd59871f155028 --- /dev/null +++ b/M&T/select_toy/example35/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.6825407457041148e-09, + 3.758919621563649e-09, + -7.649890359347151e-07 + ], + "orientation": [ + 1.0, + -1.1158918044790971e-09, + -1.685464444134427e-09, + -1.926722539408893e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.20357540700982835, + -0.06811045343623884, + 0.770999096256798 + ], + "orientation": [ + 0.998977400781881, + 0.0008135104731405979, + -0.00036176209935563826, + 0.04520354030350231 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.253974430133825, + 0.1595972475919077, + 0.75986073808167 + ], + "orientation": [ + 0.707005834235904, + 0.707190659669705, + -0.003562203800297981, + -0.003381114669257515 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.09481092931234333, + -0.16542069760996847, + 0.7651292504875278 + ], + "orientation": [ + 0.7080189900253383, + 0.7061933372674075, + 0.0002830621045381122, + 6.20221515504907e-06 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.06941408484802479, + 0.146793545856899, + 0.7649975804297376 + ], + "orientation": [ + 0.706825855732852, + 0.7073875887552088, + -9.016858172798803e-05, + 2.849985500125845e-05 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_1/one_piece_pirate_warriors__tony_tony_chopper.xml", + "position": [ + -0.25171477436918055, + -0.031399661493241644, + 0.764998571080367 + ], + "orientation": [ + 0.7068256840812099, + 0.7073877654685617, + -2.602302035444287e-05, + -3.0188194394708975e-05 + ], + "class": "Toy" + } + ], + "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 mickey into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "mickey" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example35/input/input.png b/M&T/select_toy/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..26635147704d9ef540e52ae920b825e3a25d47af --- /dev/null +++ b/M&T/select_toy/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15ffad1d7b161919e9565a184b77b8d9d9a038b7d3e6bf5bd0b4ba7c3f7e7018 +size 895784 diff --git a/M&T/select_toy/example35/input/input_mask.png b/M&T/select_toy/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..856fa567bba278e65630d7ca8c7a2cec4735e6f9 --- /dev/null +++ b/M&T/select_toy/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a320685355e6ff6a9b26760f3abf78e2e168214bacf7ed82253e7eab98243df7 +size 777440 diff --git a/M&T/select_toy/example35/input/instruction.txt b/M&T/select_toy/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f417bca92fa74abfb576c966d74d2aae71d3632a --- /dev/null +++ b/M&T/select_toy/example35/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that has its own themed park attractions worldwide. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example35/output/operation_sequence.json b/M&T/select_toy/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example35/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example36/env_config/env_config.json b/M&T/select_toy/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..66924eeb7151a0b3e571d418647326671bf4bad3 --- /dev/null +++ b/M&T/select_toy/example36/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.745722418153942e-08, + -1.0220168791933758e-09, + -7.7755930742082e-07 + ], + "orientation": [ + 1.0, + -3.4530123769539824e-09, + -7.27964201759721e-09, + -2.8930385456429896e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.0946642574179453, + -0.03585072981905365, + 0.7709990817169242 + ], + "orientation": [ + 0.9979570449986462, + 0.0008201324191913161, + -0.00034648686283248056, + 0.06388226410545098 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + 0.2101230135924294, + 0.15146130755157375, + 0.7713476747414182 + ], + "orientation": [ + 0.7084690970183611, + 0.7038242063960424, + 0.035739294004702195, + -0.03775881254772905 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.22423131908008723, + -0.16981252914286027, + 0.7649980652125585 + ], + "orientation": [ + 0.7068257952497763, + 0.7073876554706157, + 3.3171611584191438e-06, + 6.804675539933168e-06 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.2681308661331778, + 0.14053816563426488, + 0.7659547340763643 + ], + "orientation": [ + 0.008507829213631905, + -0.008451863629294305, + 0.7073358427499677, + 0.7067759110244608 + ], + "class": "Toy" + } + ], + "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 loki into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example36/input/input.png b/M&T/select_toy/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a71903037c4ab24504b436243bb7cc211f49e0ed --- /dev/null +++ b/M&T/select_toy/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c5a1334f0fd9504748a0aa3fccd1e8ef55bedd6b4ad0871c9ac5eabdd3a5813 +size 920044 diff --git a/M&T/select_toy/example36/input/input_mask.png b/M&T/select_toy/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6f113810879d32d535e1b889f8cb474f4e02f466 --- /dev/null +++ b/M&T/select_toy/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97d4a5d9a70340a5663c602efb75515627f77b32b0d28e700ef03fb2d4659b16 +size 808430 diff --git a/M&T/select_toy/example36/input/instruction.txt b/M&T/select_toy/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b677d05d51b50978b3df14a4b946475246aa8b3 --- /dev/null +++ b/M&T/select_toy/example36/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy known for shapeshifting abilities. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example36/output/operation_sequence.json b/M&T/select_toy/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example36/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example37/env_config/env_config.json b/M&T/select_toy/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..64294cc3a2ababe22689f8b3a293c574a982b273 --- /dev/null +++ b/M&T/select_toy/example37/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.3923994114620384e-08, + -4.895111776547887e-11, + -7.733917348813709e-07 + ], + "orientation": [ + 1.0, + -1.662931053650633e-09, + -3.18002533239828e-10, + -6.409610102551554e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.20241339805531328, + -0.05793004308173768, + 0.7709990873374598 + ], + "orientation": [ + 0.9999982406589014, + 0.0007969818731688186, + -0.00039684928040257156, + 0.0016510631861079567 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2746807895030354, + 0.14232682547963607, + 0.7656455476834404 + ], + "orientation": [ + 0.7068017831547319, + 0.7073647473551349, + -0.005747303618493127, + 0.005772523678189034 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.09918848351018364, + -0.14220625370724002, + 0.7629145621134134 + ], + "orientation": [ + -0.009268283895322601, + 0.008548390582044641, + 0.7071189321219249, + 0.7069822061175518 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.05244726930624108, + 0.14367166942234944, + 0.7652459085506872 + ], + "orientation": [ + 0.7068194278512584, + 0.7073819076977726, + 0.002897028518171499, + -0.002956399777619901 + ], + "class": "Toy" + } + ], + "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 jessie into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example37/input/input.png b/M&T/select_toy/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e3caa3696cf1f753359bc8f54d2f18436edddc32 --- /dev/null +++ b/M&T/select_toy/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ce28954157f95a0c6abd9c918d81ede0e193231f6051a799c0fb54c989bf806 +size 905407 diff --git a/M&T/select_toy/example37/input/input_mask.png b/M&T/select_toy/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8a9326587ffc4cdef20adbd1a197880e4b216c02 --- /dev/null +++ b/M&T/select_toy/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e2fd2a74d54cbd4d73ca32ae415d457442595890e140dd2c1ba9e2cde72a446 +size 772407 diff --git a/M&T/select_toy/example37/input/instruction.txt b/M&T/select_toy/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9d94b248283e7f7a641cc85ab2f8ff0b0ea28e9 --- /dev/null +++ b/M&T/select_toy/example37/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy character who loves yodeling. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example37/output/operation_sequence.json b/M&T/select_toy/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example37/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example38/env_config/env_config.json b/M&T/select_toy/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..75e35ec9dbee541055cc7ec03c8b362cff1ffe3a --- /dev/null +++ b/M&T/select_toy/example38/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.009286837467769e-08, + -9.415239223356929e-12, + -7.686205875504403e-07 + ], + "orientation": [ + 1.0, + 1.546328362573675e-09, + -3.5970605777266216e-09, + -1.8085046105747397e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.23134636812206757, + 0.1337172473541963, + 0.7709990938648816 + ], + "orientation": [ + 0.9986368685397257, + 0.0007744642730955669, + -0.00043918413891088016, + -0.052188237329412225 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.26960282328879814, + -0.14640117829870086, + 0.764998448771674 + ], + "orientation": [ + -2.6171835670399942e-05, + -2.5481157288046335e-05, + 0.7073883689479624, + 0.7068250803012631 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + 0.04125322833481811, + -0.1672692028547794, + 0.7649984758562337 + ], + "orientation": [ + 0.7068255185754566, + 0.707387931271239, + -2.5345515183955625e-05, + -1.8437444395077537e-05 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + -0.12380229016551852, + 0.14796434377297127, + 0.7649986507795091 + ], + "orientation": [ + 0.7068238007240558, + 0.7073896484386346, + -3.210946515168214e-06, + -1.2463212694158743e-06 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.10821129790251922, + -0.0586310074714275, + 0.7649939194856206 + ], + "orientation": [ + 0.706825593237882, + 0.7073878564037369, + 2.609102692938571e-05, + -2.5994231825535926e-05 + ], + "class": "Toy" + } + ], + "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 alien into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example38/input/input.png b/M&T/select_toy/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ca5cf8cd2f9e290ed92fe1fdcf30846afb6d29b2 --- /dev/null +++ b/M&T/select_toy/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056d24c2c15d03abe0081e9f4b29d188917e28fff13660d3ff863ff55bdd27ae +size 896949 diff --git a/M&T/select_toy/example38/input/input_mask.png b/M&T/select_toy/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c3f6112ed4bbb3cafe1e18113de73b68ffdac832 --- /dev/null +++ b/M&T/select_toy/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d52b61b496e86e2a73690a6bc4386d8ec69d715b79d8ebd23dc3719bd7df15e +size 773114 diff --git a/M&T/select_toy/example38/input/instruction.txt b/M&T/select_toy/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..054d8fbf1708f3decf7a4fd0af8104c0ab0aefe2 --- /dev/null +++ b/M&T/select_toy/example38/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is an extraterrestrial character. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example38/output/operation_sequence.json b/M&T/select_toy/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example38/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example39/env_config/env_config.json b/M&T/select_toy/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..218e74ba6b1391c2842194d67498afcd1398fc29 --- /dev/null +++ b/M&T/select_toy/example39/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.559425074860692e-09, + -5.24824376952317e-10, + -7.695589017954841e-07 + ], + "orientation": [ + 1.0, + 1.0943359593926581e-09, + -4.574623482779145e-09, + 6.741769563411446e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20331377676289986, + -0.14179089053872085, + 0.7709990923984695 + ], + "orientation": [ + 0.9997852432424253, + 0.0007879139337589096, + -0.00041457102185943177, + -0.02070446128701076 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.25485846687404023, + 0.14776933026717112, + 0.7649979369998852 + ], + "orientation": [ + 4.952025484116502e-05, + 4.203384645960708e-05, + 0.7073879627363583, + 0.7068254847956492 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + 0.04468282055632001, + 0.15193755218003646, + 0.7650946481477231 + ], + "orientation": [ + 0.0008624219335839518, + -0.0009033834396108681, + 0.7073873460631486, + 0.7068250015078028 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.12283413648854642, + -0.15435372634277905, + 0.7649985440573513 + ], + "orientation": [ + 2.033884332244815e-05, + 2.0059033699397933e-05, + 0.707388265565632, + 0.7068251841325497 + ], + "class": "Toy" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2720831108533754, + -0.031679622555978074, + 0.765096679850161 + ], + "orientation": [ + 0.001103328069516538, + -0.0006467491914749469, + 0.707392847924851, + 0.7068194416450532 + ], + "class": "Toy" + } + ], + "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 pluto into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example39/input/input.png b/M&T/select_toy/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..56b6249b4a33d6625d0c4f62c6b813445a350b9a --- /dev/null +++ b/M&T/select_toy/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63f8264387b34b322fa6435d60758967005199d9a646294095354062c2fd50f3 +size 918979 diff --git a/M&T/select_toy/example39/input/input_mask.png b/M&T/select_toy/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..650fb7a234e6822b7bb2e70e28270a28ec8ae327 --- /dev/null +++ b/M&T/select_toy/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cf07bde2794d6e7286d4d780aefde038aec69fe5fd2f98f33dc773f5e93fa3a +size 796673 diff --git a/M&T/select_toy/example39/input/instruction.txt b/M&T/select_toy/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..bee151801d7c251d0d140d2df769a1bd7d01850b --- /dev/null +++ b/M&T/select_toy/example39/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is an animal character. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example39/output/operation_sequence.json b/M&T/select_toy/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example39/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example4/env_config/env_config.json b/M&T/select_toy/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..776ea1ffdbf4282ed52f61f9b1e631648dd399de --- /dev/null +++ b/M&T/select_toy/example4/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.838177134218999e-09, + 5.69841686369416e-11, + -7.605039341134214e-07 + ], + "orientation": [ + 1.0, + 6.929924427104224e-11, + 3.981703780583121e-10, + 7.746701805292776e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.12613309429053715, + 0.16723195284456924, + 0.7709991000269947 + ], + "orientation": [ + 0.9990615965007087, + 0.0008128219958084323, + -0.00036330719432171204, + 0.04330281429352755 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.20188077802820947, + -0.13153933209659566, + 0.7651006191075089 + ], + "orientation": [ + 0.7068246895829701, + 0.7073868887134697, + -0.0011522040833430052, + 0.0011490421947835372 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.26493726427344194, + -0.13046863513166762, + 0.7649983814734982 + ], + "orientation": [ + 0.7068261732405905, + 0.7073872778172685, + 1.112827846184647e-06, + -1.7605888468252457e-06 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + 0.23315073893200008, + 0.16659876048041347, + 0.7651381940469022 + ], + "orientation": [ + 0.7068241982363122, + 0.7073864690916395, + 0.0014004736281625712, + -0.0014052783618829388 + ], + "class": "Toy" + } + ], + "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 buzz_lightyear into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example4/input/input.png b/M&T/select_toy/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..df588ce6400cda3e97e587388c61770d2e82c8ff --- /dev/null +++ b/M&T/select_toy/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b6656a8f781f8fef21b0976855c90a62392cbfcc09dc040a680794ce31a42aa +size 918084 diff --git a/M&T/select_toy/example4/input/input_mask.png b/M&T/select_toy/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..274070593a0e12cc144f814bfce0bc5458f99a0a --- /dev/null +++ b/M&T/select_toy/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbbf06d9b39748c0f598521b19790b55345c41decb781ab987874f73a0dc579c +size 796310 diff --git a/M&T/select_toy/example4/input/instruction.txt b/M&T/select_toy/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..49f061920069cf0437c7ec75bac964504595fefe --- /dev/null +++ b/M&T/select_toy/example4/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Toy Story IP. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example4/output/operation_sequence.json b/M&T/select_toy/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example4/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example40/env_config/env_config.json b/M&T/select_toy/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..16e495834088576e399318b4216e7be7706b2a72 --- /dev/null +++ b/M&T/select_toy/example40/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.4608460797058355e-09, + 2.5810058084841565e-10, + -7.716182275692379e-07 + ], + "orientation": [ + 1.0, + 7.837269808064762e-11, + -5.087582228833379e-09, + -3.1329778681618172e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.22902631252955755, + -0.14681107214925956, + 0.7709990910964949 + ], + "orientation": [ + 0.9989064220353133, + 0.0008140690443580015, + -0.00036050916648715665, + 0.04674577351313138 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.26640241517367175, + 0.1651060394506242, + 0.7649982989435362 + ], + "orientation": [ + 0.7068250891549915, + 0.7073883594500351, + 3.2596329076870406e-05, + 3.45413629686606e-05 + ], + "class": "Toy" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.037412712126939085, + 0.16137775669397827, + 0.7649988670122183 + ], + "orientation": [ + -2.452076560629418e-05, + -2.4948559905704993e-05, + 0.7073879213132078, + 0.7068255283706721 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.11555559198000494, + -0.16226550827494846, + 0.7650088631302988 + ], + "orientation": [ + 0.7068250042932787, + 0.707388428430215, + -0.00012615197057124335, + 9.335157935550509e-05 + ], + "class": "Toy" + } + ], + "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 alien into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example40/input/input.png b/M&T/select_toy/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b732ac8e7e0834b6bd4d27edf1f48b7465039d78 --- /dev/null +++ b/M&T/select_toy/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af878ecc79be691bdfa3b5807c39e4a29756b49cd9abb7849800b515b1cff872 +size 894732 diff --git a/M&T/select_toy/example40/input/input_mask.png b/M&T/select_toy/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1ed0da05760ccbb38356716515cfc65fb2500a02 --- /dev/null +++ b/M&T/select_toy/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:378e4c4730c2a5f5eb0e6aec75457bf7fc88b7f702381f96e92f824e715576ac +size 781321 diff --git a/M&T/select_toy/example40/input/instruction.txt b/M&T/select_toy/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..403b06f0a650a4183d12ff711a3463be70f62dd1 --- /dev/null +++ b/M&T/select_toy/example40/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is a three-eyed character from Toy Story. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example40/output/operation_sequence.json b/M&T/select_toy/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example40/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example41/env_config/env_config.json b/M&T/select_toy/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0ebe67e87d5661ff38bccbb2ee5881abed893948 --- /dev/null +++ b/M&T/select_toy/example41/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.108329665384885e-08, + 1.005051471332951e-08, + -7.683721160909301e-07 + ], + "orientation": [ + 1.0, + -2.9889312442382394e-09, + -2.966583997037737e-09, + -1.9064822771548883e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.07378164265946581, + -0.15407490124160123, + 0.7709990933941856 + ], + "orientation": [ + 0.9999213806689579, + 0.0007912819060392195, + -0.0004080962866937843, + -0.01250759015363096 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + -0.2766941892039428, + 0.15082272524712012, + 0.7654701284152582 + ], + "orientation": [ + 0.7109935615564805, + 0.7031985177913491, + 1.0497527452975143e-06, + 4.236996347647856e-07 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + 0.2100926254035851, + 0.13608303273686811, + 0.7649988348573266 + ], + "orientation": [ + 3.8062081003904286e-06, + 3.15407212064763e-06, + 0.7073874993141482, + 0.7068259515535921 + ], + "class": "Toy" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.2728238038103258, + -0.1421999680988765, + 0.7654239923476975 + ], + "orientation": [ + 0.7068147143773701, + 0.7073785401036118, + 0.0038324047504839495, + -0.0037246764084625165 + ], + "class": "Toy" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.10014451604980304, + -0.045811855574917834, + 0.7649986113526608 + ], + "orientation": [ + 0.7068249982469403, + 0.7073884516572073, + 1.0508935749594003e-05, + 1.4310627679824709e-05 + ], + "class": "Toy" + } + ], + "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 buzz_lightyear into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example41/input/input.png b/M&T/select_toy/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d828c1b86f5b651c2c8d1dae276bdc04eb0e5d68 --- /dev/null +++ b/M&T/select_toy/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1acf65483325f1037eafa109e6758cec37472a21494aad625cfe19c201f514d3 +size 928210 diff --git a/M&T/select_toy/example41/input/input_mask.png b/M&T/select_toy/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2c25ea5191f6b476aaf6f373ee0da2f6bf52b5f7 --- /dev/null +++ b/M&T/select_toy/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55067c3e7154171f119cca81dae4a5a681c6c4db9c277b5db21edac212f3d4d8 +size 795497 diff --git a/M&T/select_toy/example41/input/instruction.txt b/M&T/select_toy/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2fa1625138028b5ce5b18b290b08b4b945ebc39a --- /dev/null +++ b/M&T/select_toy/example41/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is a space ranger. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example41/output/operation_sequence.json b/M&T/select_toy/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example41/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example42/env_config/env_config.json b/M&T/select_toy/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..92a4a069abf36625a8dcda0b5e94060532ef880d --- /dev/null +++ b/M&T/select_toy/example42/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.7424748799122138e-08, + -9.614542491909449e-11, + -7.738033281601995e-07 + ], + "orientation": [ + 1.0, + 6.436427220222324e-10, + -7.686649077194828e-09, + -2.8372059470037106e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.04888157903901186, + 0.0688086775942282, + 0.7709990874441511 + ], + "orientation": [ + 0.9999080070146448, + 0.0007908660450165121, + -0.0004089134523868964, + -0.013534578999309599 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.2804717791388791, + -0.16330169922051765, + 0.7650557071414424 + ], + "orientation": [ + 0.0005075161263305253, + -0.0005183134689638187, + 0.7073874693194462, + 0.7068256093467178 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.2659979243891706, + 0.13673889611238618, + 0.7650406369612146 + ], + "orientation": [ + 0.7068253407231866, + 0.7073877931591387, + -0.0004682188347204862, + 0.0004780921641466333 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.20835372499712865, + -0.13632111756830514, + 0.7649973935679389 + ], + "orientation": [ + 7.051768172495629e-06, + 3.520468697802993e-05, + 0.7073879424851697, + 0.7068255071356011 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.11441621305707905, + -0.05766836330584526, + 0.7649594616265537 + ], + "orientation": [ + -0.00036885358354406175, + 0.0003117274275886855, + 0.7073877673119278, + 0.7068255183781141 + ], + "class": "Toy" + } + ], + "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 spiderman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example42/input/input.png b/M&T/select_toy/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..47a4cfdc901b5a99ab54841641a6de19e2a5bc08 --- /dev/null +++ b/M&T/select_toy/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39176fd7669f205f82d09c12022d2d1f7fe5beada6f47531746be979eb9bd8b7 +size 931384 diff --git a/M&T/select_toy/example42/input/input_mask.png b/M&T/select_toy/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7f20e500b3e10c907f228949ecbae70fda093a32 --- /dev/null +++ b/M&T/select_toy/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57f9aba9e5952575838021aef358d1b493a015fff6cc1b544639ec67bdf0b1e5 +size 805936 diff --git a/M&T/select_toy/example42/input/instruction.txt b/M&T/select_toy/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f5306264d6312ea869a9798654aea6dab63fefe --- /dev/null +++ b/M&T/select_toy/example42/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy character known for climbing walls. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example42/output/operation_sequence.json b/M&T/select_toy/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example42/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example43/env_config/env_config.json b/M&T/select_toy/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bb548792ed82f980c841ebb582dd4ebb7ae8ad49 --- /dev/null +++ b/M&T/select_toy/example43/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 9.040836182521466e-09, + -5.609790968216731e-10, + -7.680233587055708e-07 + ], + "orientation": [ + 1.0, + 2.2166942532886698e-09, + -5.1520460996890225e-09, + 2.5762664862403517e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.044794805435784894, + 0.046568962849965104, + 0.7709990930534777 + ], + "orientation": [ + 0.9989057821319236, + 0.0008140761076304749, + -0.00036049819396874233, + 0.04675944551160689 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2602697069745745, + -0.16869758882820401, + 0.7649986871510044 + ], + "orientation": [ + 4.147662156051633e-06, + 3.798594623944801e-06, + 0.7073881177462469, + 0.7068253326245381 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2604292688479406, + 0.15641569599463986, + 0.7649988404060307 + ], + "orientation": [ + -9.70592977886759e-06, + -9.830669456684924e-06, + 0.7073882353461024, + 0.7068252148184021 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + 0.2036692554031975, + -0.1691068980976127, + 0.7608997185582979 + ], + "orientation": [ + 0.0009189352354628043, + -0.0003992993431949484, + 0.7071142730198048, + 0.7070985794143143 + ], + "class": "Toy" + } + ], + "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 ace into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example43/input/input.png b/M&T/select_toy/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9d67bf75b151cac5aaca70d618e47d9248222062 --- /dev/null +++ b/M&T/select_toy/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e168c447bebd528a55f5fdd11cbf95f902e74ff7123b3bd5213b8d1f75e77ada +size 943133 diff --git a/M&T/select_toy/example43/input/input_mask.png b/M&T/select_toy/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d63bb80613c95fa2292361c811b6eb4545fe742b --- /dev/null +++ b/M&T/select_toy/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f24eb06b400a356c332f64d589024a3536ba8d10500574e55db5f7b937f2687f +size 812323 diff --git a/M&T/select_toy/example43/input/instruction.txt b/M&T/select_toy/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..50279d33256ea81bfb4a178c922126a7b6e30e3a --- /dev/null +++ b/M&T/select_toy/example43/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that has a significant relationship with the character Luffy. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example43/output/operation_sequence.json b/M&T/select_toy/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example43/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example44/env_config/env_config.json b/M&T/select_toy/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..97c0bc84af22acc232c5ebd042f3c8afbab4dda0 --- /dev/null +++ b/M&T/select_toy/example44/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.35554680850498e-09, + -2.4670125369738982e-11, + -7.649257155112591e-07 + ], + "orientation": [ + 1.0, + -2.3089303856553806e-10, + 9.831052390122657e-11, + -2.1961912486060146e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.25639123064269215, + -0.03806898579106155, + 0.7709990955497781 + ], + "orientation": [ + 0.9973325772526846, + 0.0007651427815105012, + -0.00045522295505225405, + -0.07298587314750336 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.22153525718875308, + 0.1522607433269498, + 0.7688946292078728 + ], + "orientation": [ + -0.034726691285284106, + 0.03475222838001678, + 0.7065280135318915, + 0.705977694852804 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_0/disneys_minnie_mouse_-_classic.xml", + "position": [ + 0.05284122811023118, + -0.13127623586777984, + 0.7651946915839197 + ], + "orientation": [ + 0.706820064531199, + 0.7073879578471852, + 0.0015906899332398963, + -0.0022678567934485716 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + -0.12519377410493443, + 0.1338674331276124, + 0.7658019945465265 + ], + "orientation": [ + 0.007288296431459484, + -0.0072491895610279095, + 0.7073514234309609, + 0.7067873044672138 + ], + "class": "Toy" + } + ], + "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 nami into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example44/input/input.png b/M&T/select_toy/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..969b59e742786c72dc78483ae552b584d4c900fd --- /dev/null +++ b/M&T/select_toy/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f31d4fe31843c251eebe7bcb2b3504983842503ddbe7a4a89db43b2c3e42fe94 +size 933451 diff --git a/M&T/select_toy/example44/input/input_mask.png b/M&T/select_toy/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..83880094e6c759b7aeddc62d0d4a578494593b85 --- /dev/null +++ b/M&T/select_toy/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a61ab315ebce5c3d6684486c0a37e9320c0ea66261b957705b736dde065bde55 +size 816246 diff --git a/M&T/select_toy/example44/input/instruction.txt b/M&T/select_toy/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..feed2db0ff65c1ec2005b999b49963de09ebd50d --- /dev/null +++ b/M&T/select_toy/example44/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy who is known for her cartography skills. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example44/output/operation_sequence.json b/M&T/select_toy/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example44/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example45/env_config/env_config.json b/M&T/select_toy/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9ba334e1887dc44196c73141c52d4b264eeda456 --- /dev/null +++ b/M&T/select_toy/example45/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.0962886742018208e-09, + 3.6254237895277424e-11, + -7.615241657627581e-07 + ], + "orientation": [ + 1.0, + -8.108106592538161e-10, + -1.2147822538172017e-09, + -5.231935283169861e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.04484772507526598, + -0.04659873311463893, + 0.7709990990682074 + ], + "orientation": [ + 0.9997458168750947, + 0.0007871545117858329, + -0.00041600410516550454, + -0.022527959719179837 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2534979751518634, + 0.1683899279439989, + 0.7650980075866107 + ], + "orientation": [ + 0.7068247514379858, + 0.7073865211025727, + 0.0012546714460260364, + -0.0012273209002176407 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + -0.28350379557899064, + -0.15431596264370492, + 0.7650068651618774 + ], + "orientation": [ + 0.7068265844633653, + 0.7073865913049793, + -0.00046338756640865116, + 0.00041858062458720725 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + 0.21963696832210833, + 0.13970247952438816, + 0.7651686837006041 + ], + "orientation": [ + 0.0016447079551539236, + -0.0016933965249959146, + 0.7073857139606078, + 0.7068237963088052 + ], + "class": "Toy" + } + ], + "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 flashman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example45/input/input.png b/M&T/select_toy/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..40b4533a63942d608e3b1228ed68008b6785f4b5 --- /dev/null +++ b/M&T/select_toy/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366f9d50bed5d75cb8eff1132f32ded441cd2ca0de66f628e82846efeb404c60 +size 886727 diff --git a/M&T/select_toy/example45/input/input_mask.png b/M&T/select_toy/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2f3709c96f4117414e7ebd386e6e4e1518a8984f --- /dev/null +++ b/M&T/select_toy/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b03ddae487299abdfce0be6e56ed91b2350b7b243376ac4d3396c88fc643d26 +size 775165 diff --git a/M&T/select_toy/example45/input/instruction.txt b/M&T/select_toy/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d052b3326f82559fe107591182927ac03d8d7635 --- /dev/null +++ b/M&T/select_toy/example45/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that works with other superheroes in the Justice League from the DC IP. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example45/output/operation_sequence.json b/M&T/select_toy/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example45/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example46/env_config/env_config.json b/M&T/select_toy/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a4fac9476a4ce732d812bf2f18b75970832cdbcc --- /dev/null +++ b/M&T/select_toy/example46/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.7176150165782076e-08, + -1.2584227306266026e-10, + -7.705556029853011e-07 + ], + "orientation": [ + 1.0, + 2.672312416935073e-09, + -1.1129751135052165e-09, + -5.919392048601252e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.27512134391755116, + 0.03186589865856018, + 0.7709990894097926 + ], + "orientation": [ + 0.9989468361044332, + 0.0008137569050716653, + -0.00036121560794803297, + 0.0458740227135969 + ], + "class": "CommonContainer" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + 0.22108097278889197, + -0.15023644805988245, + 0.7651506838537478 + ], + "orientation": [ + 0.7068252157881674, + 0.7073856346634356, + -0.001385228150098212, + 0.001326401443675125 + ], + "class": "Toy" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + 0.049738495279526694, + 0.1541050764748419, + 0.76498928339428 + ], + "orientation": [ + 0.7068252528224644, + 0.7073881240546063, + 0.00023026839260972397, + -0.00022560016216555877 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + -0.10139233206931686, + -0.1494886423197561, + 0.7649960690164481 + ], + "orientation": [ + 0.7068263605685362, + 0.7073870902953546, + -2.2000118652428732e-05, + -2.21471391272016e-06 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.04559652243460086, + -0.04284056038791641, + 0.7613618536568707 + ], + "orientation": [ + -0.018155023635050605, + -0.003257545294114362, + 0.709624259891481, + 0.7043388341479788 + ], + "class": "Toy" + } + ], + "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 batman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "batman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example46/input/input.png b/M&T/select_toy/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7d1a50b211a57f1d5bcb02e5c37e6107ca71966b --- /dev/null +++ b/M&T/select_toy/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05bfbb80cf6394ac36f340001186fa1f631bc7f0bbb3f9cd669d923af04d808a +size 897269 diff --git a/M&T/select_toy/example46/input/input_mask.png b/M&T/select_toy/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cb371fb74604998fc7fefc5842bd910fa127da37 --- /dev/null +++ b/M&T/select_toy/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f625182eaf34ffdff000ffdf52c8526e56330d4e9cb412c7d6e02993dca6688a +size 770245 diff --git a/M&T/select_toy/example46/input/instruction.txt b/M&T/select_toy/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2d79c4f58c437cb85568eeecd9ce907d2b55e36 --- /dev/null +++ b/M&T/select_toy/example46/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy which features a character that has a secret identity as a billionaire. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example46/output/operation_sequence.json b/M&T/select_toy/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example46/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example47/env_config/env_config.json b/M&T/select_toy/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d5fc0a5ef6548cc492ce2b1b9b2d69332e5ffcd8 --- /dev/null +++ b/M&T/select_toy/example47/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.120864150355625e-09, + -8.563472168131187e-10, + -7.671852283544973e-07 + ], + "orientation": [ + 1.0, + -3.0254073185132996e-10, + -3.1758261750596933e-09, + 2.3695696314456788e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.213918636773098, + -0.14622729904503415, + 0.7709990946694554 + ], + "orientation": [ + 0.9980006338486579, + 0.0007695722364107789, + -0.00044769758409510474, + -0.06319764365167238 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.2525153611073314, + 0.16425502666588973, + 0.764997816016666 + ], + "orientation": [ + 0.7068255627020101, + 0.7073878872812771, + -2.1986471736769824e-05, + -1.8849758971583625e-05 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + 0.05321953512592813, + 0.13020588793833734, + 0.7652613005000742 + ], + "orientation": [ + 0.0022487099277594463, + -0.00242681505831441, + 0.7073895275077393, + 0.706816178539166 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.12428056265897167, + -0.14382635290356585, + 0.7724525510504023 + ], + "orientation": [ + 0.06600736428953387, + -0.06607392807106904, + 0.7053917380517734, + 0.7026377158800313 + ], + "class": "Toy" + } + ], + "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 nami into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example47/input/input.png b/M&T/select_toy/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..df393ff18da3bcd186d4bedf0af01eb3ae012028 --- /dev/null +++ b/M&T/select_toy/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a790af8bf380d68a94816d87781c9d885f8ba56a9cfe35b8b33b745b94656b8 +size 934881 diff --git a/M&T/select_toy/example47/input/input_mask.png b/M&T/select_toy/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f526ee00fdb2b00c5fe930d1ccc18f0585a6c408 --- /dev/null +++ b/M&T/select_toy/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7032ae0d33bbfe1c0a69f7d650b6e676852f6f41396a937c28e6f57e3681ca7 +size 820699 diff --git a/M&T/select_toy/example47/input/instruction.txt b/M&T/select_toy/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ecd01728b73a3bdb80f1484d16cb941931d08d8 --- /dev/null +++ b/M&T/select_toy/example47/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy character that uses a weapon called the Clima-Tact. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example47/output/operation_sequence.json b/M&T/select_toy/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example47/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example48/env_config/env_config.json b/M&T/select_toy/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..613ce99ef960ea73a99ec602abc662509d0cc531 --- /dev/null +++ b/M&T/select_toy/example48/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.414773870076768e-08, + 1.0498675729453032e-10, + -7.684871699436655e-07 + ], + "orientation": [ + 1.0, + 2.272164070480711e-09, + -2.9214100370916436e-09, + 1.7501311632303587e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.23092552278767356, + 0.03786052130516567, + 0.7709990934416637 + ], + "orientation": [ + 0.9999973532478769, + 0.0007954830021531913, + -0.00039985573127579145, + -0.0021215134756530363 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.26772360939892076, + -0.1601404767713502, + 0.7654556903693442 + ], + "orientation": [ + -0.004065697253226506, + 0.004058426967685498, + 0.7073759671730504, + 0.7068141483745115 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_1/wii_-_toy_story_3_-_slinky_dog.xml", + "position": [ + -0.09784997763460508, + 0.14280432897852693, + 0.762721805761316 + ], + "orientation": [ + 0.02030816255499651, + -0.020211850440098364, + 0.7060618383957247, + 0.7075703074583312 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + 0.06132644754723972, + -0.14009681598286425, + 0.765680036559418 + ], + "orientation": [ + 0.006070013938885783, + -0.0060386654534794765, + 0.7073619601565881, + 0.706799651084911 + ], + "class": "Toy" + } + ], + "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 spiderman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example48/input/input.png b/M&T/select_toy/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1767e384a95ae670cb35da491ec731b7eb279f97 --- /dev/null +++ b/M&T/select_toy/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dca6a788af89f5422a16518123bcf766f13e4db85b1085bcfa14e59d6b28302a +size 911054 diff --git a/M&T/select_toy/example48/input/input_mask.png b/M&T/select_toy/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0f19685699b616f37d7de26c12777370b98b7b66 --- /dev/null +++ b/M&T/select_toy/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dcdf401ed508beb868cf07843e09141613a40f32571d3ff4296299d35d819d7 +size 795400 diff --git a/M&T/select_toy/example48/input/instruction.txt b/M&T/select_toy/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..caaa6e514e098a51b43c51a7fa681ce5ffccb322 --- /dev/null +++ b/M&T/select_toy/example48/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy depicting a teenager who gains spider-like powers after a spider bite. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example48/output/operation_sequence.json b/M&T/select_toy/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example48/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example49/env_config/env_config.json b/M&T/select_toy/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..de6495dcdacb4a715c7d02eb79e1635c32910e42 --- /dev/null +++ b/M&T/select_toy/example49/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.9085106762251943e-08, + 1.2551812122259264e-10, + -7.77507629599707e-07 + ], + "orientation": [ + 1.0, + -2.265706428892528e-09, + 9.705419042093112e-10, + -2.2418142537468033e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.040939618489301596, + -0.1578360401822791, + 0.7709990835357327 + ], + "orientation": [ + 0.997307536102653, + 0.0008233775794577199, + -0.0003386987713709398, + 0.0733272511782714 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.27142418570901644, + 0.14838215238903804, + 0.7651161702955666 + ], + "orientation": [ + -0.0010667135178376195, + 0.0011198111707466324, + 0.7073863589310517, + 0.7068254008901216 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.23747015986908504, + 0.15431646554120718, + 0.7652655175397242 + ], + "orientation": [ + -0.0026658200474684313, + 0.002606123257999004, + 0.7073830445840575, + 0.7068205781950806 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.2686285631907976, + -0.15559739133978592, + 0.7634807594261894 + ], + "orientation": [ + 0.7080762449297485, + 0.7059622259605073, + 0.011325154609503533, + -0.010821633709564259 + ], + "class": "Toy" + } + ], + "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 luffy into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "luffy" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example49/input/input.png b/M&T/select_toy/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8a82313f2360917b8593ca09fc4c3aacd9e2dc69 --- /dev/null +++ b/M&T/select_toy/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bc6c3731f1cf19a4b73ab1089cf00daeae51f876889c1d3b243f389cd488be4 +size 917613 diff --git a/M&T/select_toy/example49/input/input_mask.png b/M&T/select_toy/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..20f0e9eaf972add348cd0ef2fcc02ef4ae865d34 --- /dev/null +++ b/M&T/select_toy/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc49e30783998319986baa6a4a84f7f9f578e34a8c765f49c977866d86f9d3cb +size 797655 diff --git a/M&T/select_toy/example49/input/instruction.txt b/M&T/select_toy/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d2327e4a70c82da6285fef91165828570a5ac6ea --- /dev/null +++ b/M&T/select_toy/example49/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is the captain of the Straw Hat Pirates. Please put it into the box. \ No newline at end of file diff --git a/M&T/select_toy/example49/output/operation_sequence.json b/M&T/select_toy/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example49/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example5/env_config/env_config.json b/M&T/select_toy/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77d329afa37af1153bf04076a2cc154a2af59ca4 --- /dev/null +++ b/M&T/select_toy/example5/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.03559378980207e-08, + -1.1136253717541863e-08, + -7.775533406827314e-07 + ], + "orientation": [ + 0.9999999999999993, + -6.723446836373346e-10, + -7.765513520931713e-09, + 2.540395739894058e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.203163498119801, + -0.03710152219531081, + 0.7709990860592333 + ], + "orientation": [ + 0.9978909023379712, + 0.0008204906081010537, + -0.00034564494171830093, + 0.06490727506101376 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_0/spiderman_aracnido.xml", + "position": [ + -0.2536715691579719, + 0.1658407957997003, + 0.7697458005209337 + ], + "orientation": [ + -0.042355509303285244, + 0.04236398282570693, + 0.7061189831454084, + 0.7055545942253488 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.11638276254264608, + -0.16773906981874995, + 0.76499840900128 + ], + "orientation": [ + -0.00025246114014494534, + -0.00025709938469735004, + 0.7073884842537249, + 0.7068248740023907 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.05524257944771235, + 0.147965240226556, + 0.7660013226506133 + ], + "orientation": [ + 0.7067703337675408, + 0.7073299802660515, + 0.008933137929286947, + -0.008955075079688048 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + -0.25770110132587865, + -0.03671296275072784, + 0.7652815044150291 + ], + "orientation": [ + 0.0030633765633664867, + -0.0002661602736308025, + 0.7082343780375013, + 0.7059706868196247 + ], + "class": "Toy" + } + ], + "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 spiderman into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example5/input/input.png b/M&T/select_toy/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..62e83e5b8fbc32fc1c124e473ba329e06c98f574 --- /dev/null +++ b/M&T/select_toy/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6c3465cf5cfce06b32dc6e82a142e3823e9749f2fe465baea70d13ac8c2d283 +size 917786 diff --git a/M&T/select_toy/example5/input/input_mask.png b/M&T/select_toy/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a4677a39ad55011041a91ac1eb953d5a7d721bf --- /dev/null +++ b/M&T/select_toy/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b5b0b67ecbdfedfecdbd4a41dcb898657479371ba8464aca4fe779f43549e8f +size 800065 diff --git a/M&T/select_toy/example5/input/instruction.txt b/M&T/select_toy/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b812acaec4cc42d12b9645f5a0b89e88c301fbd --- /dev/null +++ b/M&T/select_toy/example5/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that has spider-like abilities. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example5/output/operation_sequence.json b/M&T/select_toy/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example5/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example50/env_config/env_config.json b/M&T/select_toy/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2b6f3b34241e50674fe9e41be66ed4959a943446 --- /dev/null +++ b/M&T/select_toy/example50/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.703871281736424e-09, + 5.7647036680518815e-09, + -7.67917818217752e-07 + ], + "orientation": [ + 1.0, + -7.392703583527572e-10, + -4.298060194960975e-09, + -1.8956006919820487e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 1.022961822693626, + 0.3997066747464631, + 0.8481968478471208 + ], + "orientation": [ + -0.42264565183110636, + 0.1548289719803216, + -0.013660058293119908, + 0.8928673167000827 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.2897891015473966, + -0.2002313724554534, + 0.7697140046473644 + ], + "orientation": [ + 0.08361780148469512, + 0.10348704445553591, + 0.7361723326275789, + 0.6635878175331367 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.2634716198350139, + 0.1455237088780934, + 0.7658601531807954 + ], + "orientation": [ + 0.7067818294137017, + 0.7073447902154438, + -0.007804678647524092, + 0.007866406860818914 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + 0.2382767621302697, + -0.1397658276895608, + 0.7617144797637903 + ], + "orientation": [ + 0.7072159818624307, + 0.7069831652962387, + -0.0034021053011319075, + 0.0029638936536341832 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.20583662459271093, + -0.13056504515113898, + 0.8004999110858749 + ], + "orientation": [ + 0.027440861940279736, + -0.3197902676128178, + 0.9455678179444191, + -0.053690646335509344 + ], + "class": "Toy" + } + ], + "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 nami into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example50/input/input.png b/M&T/select_toy/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4d1e30178ca8168422d5eb8f11971efbf0226627 --- /dev/null +++ b/M&T/select_toy/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe60b09a05aacfa42ae2f6bf71361a0d31b695521275876c11217170aff36b33 +size 876154 diff --git a/M&T/select_toy/example50/input/input_mask.png b/M&T/select_toy/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..da6a73e8ab001749df025f93c49d2af39a718f2d --- /dev/null +++ b/M&T/select_toy/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31d2f98ffc89a7921e8afa4706bfc572feb2a3cbae93985c32e3d2107c2d3bb9 +size 763831 diff --git a/M&T/select_toy/example50/input/instruction.txt b/M&T/select_toy/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2bcfeac602eef881d3b4bf34a18f12c17098796e --- /dev/null +++ b/M&T/select_toy/example50/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy from the Straw Hat Pirates crew. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example50/output/operation_sequence.json b/M&T/select_toy/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example50/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example51/env_config/env_config.json b/M&T/select_toy/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ef9d98ea2696d1d98b6644b5134a6592ea6b3be2 --- /dev/null +++ b/M&T/select_toy/example51/env_config/env_config.json @@ -0,0 +1,133 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1637521678077162e-08, + 1.3519779292227637e-10, + -7.699615729493302e-07 + ], + "orientation": [ + 1.0, + 1.2860667956336009e-09, + -2.1376240981894e-09, + 2.1050896063825063e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.10221136590085815, + -0.031347940641725275, + 0.7709990899281438 + ], + "orientation": [ + 0.9985863832002264, + 0.0008163636565783325, + -0.00035528259069869786, + 0.05314548533743665 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.20161297255155455, + 0.1585759179885274, + 0.7650899363974596 + ], + "orientation": [ + 0.0008789263741280235, + -0.0009313799357861065, + 0.7073872886251937, + 0.7068250023247198 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + 0.2044856292068298, + -0.14019333089087663, + 0.7649983516787622 + ], + "orientation": [ + 0.7068258768253217, + 0.7073875739564474, + 3.8361458380498064e-06, + 6.8855885615271544e-06 + ], + "class": "Toy" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.2522015128079265, + 0.15206622074792894, + 0.7661735891470435 + ], + "orientation": [ + 0.7067480036323859, + 0.7073119758466819, + -0.01038226981007637, + 0.01045163427847186 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.2867034753390311, + -0.1696097372984744, + 0.7660006545857253 + ], + "orientation": [ + 0.008950290319565337, + -0.00890780373679591, + 0.7073316799153476, + 0.7067690131322364 + ], + "class": "Toy" + } + ], + "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 nami into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example51/input/input.png b/M&T/select_toy/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6ebe2f885860c823ddc0d578bc34149c7d6ef8c3 --- /dev/null +++ b/M&T/select_toy/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3dfe112420bea86ef8e4ef95f228e640ae3f3d7b28cbec67f1689618b4f86a2 +size 940656 diff --git a/M&T/select_toy/example51/input/input_mask.png b/M&T/select_toy/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..596bc73ee9c1eaaf5fce291412e7ae2c39b3f930 --- /dev/null +++ b/M&T/select_toy/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3649d9151fb175b48af8a23438019ac7a162c835a018b52658f5564620da07e +size 810257 diff --git a/M&T/select_toy/example51/input/instruction.txt b/M&T/select_toy/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..88130b9d44efbc0cd4f8709264b33ba60c63d342 --- /dev/null +++ b/M&T/select_toy/example51/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy who is known for controlling weather. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example51/output/operation_sequence.json b/M&T/select_toy/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example51/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example52/env_config/env_config.json b/M&T/select_toy/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce4384e6c70fac7b2c50f96a1060155fb27a2fe --- /dev/null +++ b/M&T/select_toy/example52/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.7100513093198306e-09, + 7.006252458353205e-10, + -7.632168685546134e-07 + ], + "orientation": [ + 1.0, + 1.703692537251024e-09, + 1.859409527192236e-10, + -5.35470692521724e-12 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.21770204905201151, + 0.04560819968829943, + 0.7709990972649081 + ], + "orientation": [ + 0.9995866935156851, + 0.0008074410287020077, + -0.0003751179807737681, + 0.028734116862452367 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.26217189685512704, + -0.16927603241752295, + 0.7711178305291065 + ], + "orientation": [ + 0.01858603302286027, + -0.018689521038020494, + 0.7056665490192022, + 0.7080536581186282 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.09939230646788251, + 0.14648828929185886, + 0.7613331583820145 + ], + "orientation": [ + -0.002685870080765669, + 0.0022385212730600523, + 0.711150975561524, + 0.7030306288365472 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.0632738793312164, + -0.13936297450442087, + 0.765988057352642 + ], + "orientation": [ + -0.008835281044191191, + 0.008792915699569352, + 0.7073331470109541, + 0.7067704306080939 + ], + "class": "Toy" + } + ], + "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 loki into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example52/input/input.png b/M&T/select_toy/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..128818e8f3211431b95a7ae71ffa2b0802986e23 --- /dev/null +++ b/M&T/select_toy/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55e5e63504a7db593d06e0e8ed7079be69d82889575853daedf12104ec116ab2 +size 899610 diff --git a/M&T/select_toy/example52/input/input_mask.png b/M&T/select_toy/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b695b1c743e6cabc6fd8f7eafb1a08734205117a --- /dev/null +++ b/M&T/select_toy/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4207d6994bfdb470c0a1351c6f31c9c9bd56907f4b89cc0017f66d165b0b406 +size 778404 diff --git a/M&T/select_toy/example52/input/instruction.txt b/M&T/select_toy/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b778714db39a62ab4d6f394b43c667fe15fa1c20 --- /dev/null +++ b/M&T/select_toy/example52/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is a Marvel character and is known for being the God of Mischief. Please put it into the box.' \ No newline at end of file diff --git a/M&T/select_toy/example52/output/operation_sequence.json b/M&T/select_toy/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/M&T/select_toy/example52/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/M&T/select_toy/example53/env_config/env_config.json b/M&T/select_toy/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c64fa20428f5f89558677d704f410d0c1f111b65 --- /dev/null +++ b/M&T/select_toy/example53/env_config/env_config.json @@ -0,0 +1,117 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3118542452590072e-08, + -4.645489170836588e-09, + -7.684158356470958e-07 + ], + "orientation": [ + 1.0, + -4.783363958851641e-10, + -4.08634413854734e-09, + 2.4052469336123543e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.05161855076522211, + -0.047770939844805675, + 0.7709990924593144 + ], + "orientation": [ + 0.9988219071240442, + 0.0007760709349425459, + -0.00043633576751525815, + -0.04851809120409114 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + -0.27519544235947857, + 0.14950306231735921, + 0.7652481127697669 + ], + "orientation": [ + 0.706822954021514, + 0.707383475189875, + -0.002220249057306095, + 0.002236334214831306 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.25764090024779035, + -0.14828854394594823, + 0.765112155000351 + ], + "orientation": [ + 0.706824928355079, + 0.7073870552644315, + -0.001018066573213754, + 0.001018940923770366 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + 0.22694873796188428, + 0.16327810914347518, + 0.7662201335500649 + ], + "orientation": [ + -0.009534553698975835, + 0.006468306062197919, + 0.7044486098514018, + 0.7096614751984741 + ], + "class": "Toy" + } + ], + "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 buzz_lightyear into the giftbox_seen" + ], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/M&T/select_toy/example53/input/input.png b/M&T/select_toy/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5eace6ef530a3756db0bd3cc019ea3c31a8ca074 --- /dev/null +++ b/M&T/select_toy/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb26e6191d1224188a666ee9ef664ba6327d5444ba31bf490ba51bee6c821e1c +size 873922 diff --git a/M&T/select_toy/example53/input/input_mask.png b/M&T/select_toy/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c6f5a8aefe7dded7c2eed6fd24c7c1ab155d3a87 --- /dev/null +++ b/M&T/select_toy/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94231347727c1195272980466daf4a067534bdd9842c2debc3df63ba517c9632 +size 761448 diff --git a/M&T/select_toy/example53/input/instruction.txt b/M&T/select_toy/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..50350eec8566e4cae966e7913817ebdb6f01aee8 --- /dev/null +++ b/M&T/select_toy/example53/input/instruction.txt @@ -0,0 +1 @@ + Please select a toy that is part of Andy's toy collection in the animation. Please put it into the box.' \ No newline at end of file