diff --git a/Semantic/select_book_semantic/example53/input/instruction.txt b/Semantic/select_book_semantic/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0e2f4eaac61b39a778a1e5b50cc3d29b0b2b64c --- /dev/null +++ b/Semantic/select_book_semantic/example53/input/instruction.txt @@ -0,0 +1 @@ + Im trying to understand the latest advancements in single-electron transistors. Can you get me the book on electron transport in quantum dots? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example53/output/operation_sequence.json b/Semantic/select_book_semantic/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example53/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example54/env_config/env_config.json b/Semantic/select_book_semantic/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ceef6e0ecf3a0bf689ce418b64e135dbc6d867 --- /dev/null +++ b/Semantic/select_book_semantic/example54/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5292161533000578e-10, + 9.913031997639362e-10, + -1.2354607315820226e-06 + ], + "orientation": [ + 0.9999999999999679, + -2.456356207381809e-07, + -5.897202041164982e-08, + -9.36767494180191e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.07525678547658782, + 0.2810342110797853, + 0.7599985676580886 + ], + "orientation": [ + 0.9998520475338213, + -2.2403588098306554e-07, + -6.356628922834912e-08, + -0.01720125118618774 + ], + "class": "Shelf" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.2821935524838656, + 0.29323558696675467, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "mobile_computing_principles", + "xml_path": "obj/meshes/books/bookscan/mobile_computing_principles/mobile_computing_principles.xml", + "position": [ + -0.16471170102112406, + 0.29039130190475937, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + 0.00205863316526792, + 0.2650834734383385, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "electron_transport_in_quantum_dots", + "xml_path": "obj/meshes/books/bookscan/electron_transport_in_quantum_dots/electron_transport_in_quantum_dots.xml", + "position": [ + 0.191730951515595, + 0.2914396809001278, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "engineering_biopolymers" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example54/input/input.png b/Semantic/select_book_semantic/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4caecc35d3b60151f9c3fc0edd0dc82726f76af1 --- /dev/null +++ b/Semantic/select_book_semantic/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c124ad6b5720aa2ecbab90c7a97a1c1d4e2fcc9b7f0632f4612bbe22bfcf5f +size 647186 diff --git a/Semantic/select_book_semantic/example54/input/input_mask.png b/Semantic/select_book_semantic/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..97abf80a583a858d335d63cfd7b3529ed5f88bc6 --- /dev/null +++ b/Semantic/select_book_semantic/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed9ed780754b2b9ed3fa22789c1a9649f1e40f35a81bfe6cf498c94ba7b117dd +size 535263 diff --git a/Semantic/select_book_semantic/example54/input/instruction.txt b/Semantic/select_book_semantic/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb5e67723e8f8031add4b1284ebab3ebe98c70b5 --- /dev/null +++ b/Semantic/select_book_semantic/example54/input/instruction.txt @@ -0,0 +1 @@ +** Im trying to decide which biopolymer would be best for my research project. I need Engineering Biopolymers to help me decide. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example54/output/operation_sequence.json b/Semantic/select_book_semantic/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example54/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example55/env_config/env_config.json b/Semantic/select_book_semantic/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..52201ebff53d5129f751af6fdf1441cc7ceab121 --- /dev/null +++ b/Semantic/select_book_semantic/example55/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.787188552907544e-11, + 9.626873740340097e-10, + -1.23546343824498e-06 + ], + "orientation": [ + 0.9999999999999656, + -2.618558357573201e-07, + -4.392781617087788e-09, + 2.0745639359887288e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.0034413940147476475, + 0.30152072704967164, + 0.7599985566540884 + ], + "orientation": [ + 0.9993019720456742, + -2.4130074091581833e-07, + 6.1455953770298215e-09, + 0.0373573107379026 + ], + "class": "Shelf" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.2549447527248512, + 0.28922664715020224, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "opengl", + "xml_path": "obj/meshes/books/bookscan/opengl/opengl.xml", + "position": [ + -0.09319960372094374, + 0.30605971622050343, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + 0.08322295126346246, + 0.2933598973852545, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "foundamentals_of_molecular_biology" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example55/input/input.png b/Semantic/select_book_semantic/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..33f139f1631239dadea67a17582ddcd2e502dcf3 --- /dev/null +++ b/Semantic/select_book_semantic/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8f11bbe819cfb7f429e97cd18a3a421af8ece72571c6cded8f031bf2a2d6890 +size 635111 diff --git a/Semantic/select_book_semantic/example55/input/input_mask.png b/Semantic/select_book_semantic/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d5cc298a004b1d6f1cec6845e004d0b3ca18a364 --- /dev/null +++ b/Semantic/select_book_semantic/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:594bccb89b20e8915a0d8f0a134f26850f09721c9f0722e92cc7b0bb93713236 +size 532288 diff --git a/Semantic/select_book_semantic/example55/input/instruction.txt b/Semantic/select_book_semantic/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8766c2c22ade60cffafb5578942058c051ad1287 --- /dev/null +++ b/Semantic/select_book_semantic/example55/input/instruction.txt @@ -0,0 +1 @@ +** We were just discussing gene expression. Pass me my fundamentals of molecular biology text, please. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example55/output/operation_sequence.json b/Semantic/select_book_semantic/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example55/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example56/env_config/env_config.json b/Semantic/select_book_semantic/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ae98f0c2e3cee03a4779eadd6154da17afdb5988 --- /dev/null +++ b/Semantic/select_book_semantic/example56/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.0305383734098287e-10, + 8.815451916054497e-10, + -1.2354934095934738e-06 + ], + "orientation": [ + 0.9999999999999597, + -2.8317989514297505e-07, + -1.5328963814953787e-08, + 1.5092582116857273e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.016689209007286845, + 0.3283925133018621, + 0.7599985280612778 + ], + "orientation": [ + 0.9989130778562537, + -2.630601201823731e-07, + -1.170097096340042e-09, + 0.046611832056638824 + ], + "class": "Shelf" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + -0.26040557208369935, + 0.32827487435523384, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + -0.07501572395272517, + 0.35138250856865605, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "opengl", + "xml_path": "obj/meshes/books/bookscan/opengl/opengl.xml", + "position": [ + 0.04811653950524538, + 0.3558240260761156, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + 0.2505739292871364, + 0.3479594781360891, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example56/input/input.png b/Semantic/select_book_semantic/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..49a1dd8896d9a35d80047d048b5467d5eb2c645f --- /dev/null +++ b/Semantic/select_book_semantic/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa752a30b885d1b407fd5c46378eb10a379df2e54f3766a8b8ea2f7ff4b82960 +size 667454 diff --git a/Semantic/select_book_semantic/example56/input/input_mask.png b/Semantic/select_book_semantic/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dd45ebc2facc90fb72bb4f2b4fb98948b0d91aa6 --- /dev/null +++ b/Semantic/select_book_semantic/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f185d31a2aafc61948ace92845241372eea77b448bb1be7aeca3b3509a272b1 +size 553617 diff --git a/Semantic/select_book_semantic/example56/input/instruction.txt b/Semantic/select_book_semantic/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2fe6fcadc9d9cc672ecfe5b7ea9fd0b201086379 --- /dev/null +++ b/Semantic/select_book_semantic/example56/input/instruction.txt @@ -0,0 +1 @@ + Im updating our companys international legal guidelines. Please bring me the Japanese contract law textbook. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example56/output/operation_sequence.json b/Semantic/select_book_semantic/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example56/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example57/env_config/env_config.json b/Semantic/select_book_semantic/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..45b14ee37ef673aa9cb95dbb912684896afd11af --- /dev/null +++ b/Semantic/select_book_semantic/example57/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.6832886081689598e-10, + 1.0219188813942153e-09, + -1.2354460587151792e-06 + ], + "orientation": [ + 0.999999999999972, + -2.3543382288498003e-07, + -3.279743308314588e-08, + -7.160013654545373e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.04358248762921674, + 0.26827162507903485, + 0.7599985854355935 + ], + "orientation": [ + 0.9992028514059946, + -2.1340051391674897e-07, + -4.301291425456822e-08, + -0.039920693156339344 + ], + "class": "Shelf" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + -0.3134196230171254, + 0.24572332793904933, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + -0.14350015245489592, + 0.261118380304165, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "opengl", + "xml_path": "obj/meshes/books/bookscan/opengl/opengl.xml", + "position": [ + 0.022273432848740813, + 0.26825631995408905, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "electron_transport_in_quantum_dots", + "xml_path": "obj/meshes/books/bookscan/electron_transport_in_quantum_dots/electron_transport_in_quantum_dots.xml", + "position": [ + 0.0954040044593406, + 0.26076802810478933, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "electron_transport_in_quantum_dots" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example57/input/input.png b/Semantic/select_book_semantic/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..84ffd9ffdb59122874c45eef7958ae651ab46fc8 --- /dev/null +++ b/Semantic/select_book_semantic/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:995d88becd39730f57fd8468a654b9f90c4d7fd862a700ded879ecca98e6c794 +size 669013 diff --git a/Semantic/select_book_semantic/example57/input/input_mask.png b/Semantic/select_book_semantic/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5f10bb712849cdb2be754c337c17a2179628cee9 --- /dev/null +++ b/Semantic/select_book_semantic/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2ce924d28a1f80e1a83d7f6bda82400a7c5d26d6b9a64d537b7e6459d961ba6 +size 541675 diff --git a/Semantic/select_book_semantic/example57/input/instruction.txt b/Semantic/select_book_semantic/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b493f20b8fc4b5e974dd86d8206c46d2087691d9 --- /dev/null +++ b/Semantic/select_book_semantic/example57/input/instruction.txt @@ -0,0 +1 @@ + Professor Sharmas lecture on quantum confinement really got me thinking. I need to revisit the Electron Transport in Quantum Dots book. Can you get it for me? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example57/output/operation_sequence.json b/Semantic/select_book_semantic/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example57/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example58/env_config/env_config.json b/Semantic/select_book_semantic/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f5810b2fd7ef3cc7120d45d56ae9a62c835a2f7c --- /dev/null +++ b/Semantic/select_book_semantic/example58/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.409364300056538e-10, + 8.571555636974532e-10, + -1.235496587370367e-06 + ], + "orientation": [ + 0.999999999999957, + -2.8971916083948694e-07, + 4.01611594452435e-08, + 1.0042663585949967e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.05374206948125953, + 0.3366793149133958, + 0.7599985151552213 + ], + "orientation": [ + 0.9983977082564308, + -2.6646653599184806e-07, + 5.764553602266153e-08, + 0.05658636008997386 + ], + "class": "Shelf" + }, + { + "name": "the_autobiography_of_benjamin_franklin", + "xml_path": "obj/meshes/books/bookscan/the_autobiography_of_benjamin_franklin/the_autobiography_of_benjamin_franklin.xml", + "position": [ + -0.17713355427608746, + 0.3245561943455145, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + -0.0031102458511705518, + 0.31613565501639357, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + 0.10593255577663958, + 0.3119625611505836, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "foundamentals_of_molecular_biology" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example58/input/input.png b/Semantic/select_book_semantic/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5f05f7e13b7677ebfc2f15aedfe8df4d6d12ad58 --- /dev/null +++ b/Semantic/select_book_semantic/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67b6c637f330b78d1fead5ac370a5af130719ae55f72b7cd9e5ad19e28be1885 +size 652557 diff --git a/Semantic/select_book_semantic/example58/input/input_mask.png b/Semantic/select_book_semantic/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cffa9c678683ce4debb60ba1c6bdc469f794e425 --- /dev/null +++ b/Semantic/select_book_semantic/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a2f758fd239eee10688e3939a3923d83fdca871f17f9779fb25c64c705f29b8 +size 546539 diff --git a/Semantic/select_book_semantic/example58/input/instruction.txt b/Semantic/select_book_semantic/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5634072626d6aa620b3a91f6fb30eff77aca70ea --- /dev/null +++ b/Semantic/select_book_semantic/example58/input/instruction.txt @@ -0,0 +1 @@ + I need to brush up on protein synthesis before my exam next week. Can you fetch my Fundamentals of Molecular Biology book?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example58/output/operation_sequence.json b/Semantic/select_book_semantic/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example58/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example59/env_config/env_config.json b/Semantic/select_book_semantic/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c843a1539ca256476ab936ce6ccb62de5e1bd490 --- /dev/null +++ b/Semantic/select_book_semantic/example59/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.80248996290655e-11, + 9.442058586571223e-10, + -1.2354755317095016e-06 + ], + "orientation": [ + 0.9999999999999623, + -2.63336478361146e-07, + -7.342936636534775e-08, + -8.447993166034412e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.0911274499260404, + 0.30332898800845204, + 0.759998541442538 + ], + "orientation": [ + 0.9997122359981988, + -2.4447763217759863e-07, + -6.662159806024519e-08, + 0.023988438786560144 + ], + "class": "Shelf" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.334353238810946, + 0.3185782759248279, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + -0.18408718451766648, + 0.30472098678620624, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + -0.022885255102046247, + 0.3133755510138998, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "critical_infrastructure_protection_in_homeland_security" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example59/input/input.png b/Semantic/select_book_semantic/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e0666dee4df8502950b75e2ad219142eed7f961e --- /dev/null +++ b/Semantic/select_book_semantic/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39b06ad524dcfea9e9000b186c5bd87ba8e20fe5f14982f6781176a5c28267ac +size 666905 diff --git a/Semantic/select_book_semantic/example59/input/input_mask.png b/Semantic/select_book_semantic/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33d0db8ee4859d3681130844386b1f6228f78891 --- /dev/null +++ b/Semantic/select_book_semantic/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e58322c93f2e7c8e06234b4e1eb9afb504a22c6ff34639d8ceb081a8a32dd65 +size 547703 diff --git a/Semantic/select_book_semantic/example59/input/instruction.txt b/Semantic/select_book_semantic/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1d0e5aa71a0304728d2a1ab151cf41751f1135a --- /dev/null +++ b/Semantic/select_book_semantic/example59/input/instruction.txt @@ -0,0 +1 @@ + Tonight, I’m reflecting on what I learned in my homeland security course. Would you pass me the book on critical infrastructure protection? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example59/output/operation_sequence.json b/Semantic/select_book_semantic/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example59/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example6/env_config/env_config.json b/Semantic/select_book_semantic/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c65dad46739f1a9ae4b67f98ae1f27f85e53403e --- /dev/null +++ b/Semantic/select_book_semantic/example6/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.516479459452949e-10, + 9.785209832157685e-10, + -1.2354569770440804e-06 + ], + "orientation": [ + 0.9999999999999689, + -2.4752875226018774e-07, + 2.5724125899568597e-08, + 8.537729338134072e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.03652632366149965, + 0.28370678454158255, + 0.7599985722720632 + ], + "orientation": [ + 0.9972873483407334, + -2.2446621886790243e-07, + 4.537777802111494e-08, + 0.07360669018136894 + ], + "class": "Shelf" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + -0.09317641640735025, + 0.299949070198867, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.03549677924891811, + 0.28693390798741786, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + 0.09742696047717328, + 0.28827778207909965, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + 0.22884993165928963, + 0.2842329120379652, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example6/input/input.png b/Semantic/select_book_semantic/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3ab6d4c9dd13137032187f8ffbb5c51823251a39 --- /dev/null +++ b/Semantic/select_book_semantic/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:269e7513c09cebd19fa58b32663ac65cccfbd0b36fcc150e1a768a6bfeeaa38a +size 662024 diff --git a/Semantic/select_book_semantic/example6/input/input_mask.png b/Semantic/select_book_semantic/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..48dcb13f953ace5ee87afdb2da5f479678f83e32 --- /dev/null +++ b/Semantic/select_book_semantic/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87dac8deb23240f01761f642c16dd4b2daa3b13e37c19cb8339e6c11e449fa51 +size 534822 diff --git a/Semantic/select_book_semantic/example6/input/instruction.txt b/Semantic/select_book_semantic/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..801b6ca5d2b579d932b17f3839f45cd324919abe --- /dev/null +++ b/Semantic/select_book_semantic/example6/input/instruction.txt @@ -0,0 +1 @@ + Im craving a story with a rich history. Could you fetch my copy of One Hundred Years of Solitude? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example6/output/operation_sequence.json b/Semantic/select_book_semantic/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example6/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example60/env_config/env_config.json b/Semantic/select_book_semantic/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..aa96e2ac709908d976b6a037b4c238c25b249f11 --- /dev/null +++ b/Semantic/select_book_semantic/example60/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.5283149267341286e-10, + 8.627270091604428e-10, + -1.2354915553838593e-06 + ], + "orientation": [ + 0.9999999999999583, + -2.873938239965723e-07, + 1.82817198504836e-08, + 8.525216280100666e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.027291689922235504, + 0.33390205154787234, + 0.7599985216418318 + ], + "orientation": [ + 0.9970985097427023, + -2.6467880598543974e-07, + 4.1660490247622526e-08, + 0.07612201960542855 + ], + "class": "Shelf" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + -0.24572560021161152, + 0.307584242470653, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + -0.09021415778899665, + 0.3200810601284054, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + 0.06588754401995416, + 0.31017240484680625, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "data_visualization" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example60/input/input.png b/Semantic/select_book_semantic/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..13148ac3c5b5488d4111c26fbf0971bb165d28c4 --- /dev/null +++ b/Semantic/select_book_semantic/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c46b899e5649dc350374c1aa36d68e8969160a52a02d2da81ede440d6f0d16a +size 659475 diff --git a/Semantic/select_book_semantic/example60/input/input_mask.png b/Semantic/select_book_semantic/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..219543625bda3318f9a44c65ca828a320b1b2446 --- /dev/null +++ b/Semantic/select_book_semantic/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7a6d67fa993661e3175adaa16707e0005453ecb4e496494470256f8284e5c62 +size 547464 diff --git a/Semantic/select_book_semantic/example60/input/instruction.txt b/Semantic/select_book_semantic/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cacd008928e1e59da45453934fd9381d7cc44bef --- /dev/null +++ b/Semantic/select_book_semantic/example60/input/instruction.txt @@ -0,0 +1 @@ + Im feeling uninspired by these charts. Maybe that book on data visualization will give me some ideas. Can you bring it to me?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example60/output/operation_sequence.json b/Semantic/select_book_semantic/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example60/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example61/env_config/env_config.json b/Semantic/select_book_semantic/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a4c4acbf6ddd1e58ec730e7b9273b118ee5566d4 --- /dev/null +++ b/Semantic/select_book_semantic/example61/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2871422975224337e-10, + 8.751775808937514e-10, + -1.235501246369142e-06 + ], + "orientation": [ + 0.9999999999999579, + -2.8190122054112433e-07, + 7.127788854686e-08, + 9.512087660272441e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.08947727691416822, + 0.32665444458542425, + 0.7599985176283264 + ], + "orientation": [ + 0.9999904771576603, + -2.616613697227439e-07, + 6.99486406276019e-08, + -0.0043641257911051935 + ], + "class": "Shelf" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.1389928537212653, + 0.34095012358836596, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + 0.03644236684544889, + 0.31343522158419695, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cotton_the_fabric_that_made_the_modern_world", + "xml_path": "obj/meshes/books/bookscan/cotton_the_fabric_that_made_the_modern_world/cotton_the_fabric_that_made_the_modern_world.xml", + "position": [ + 0.14923647740687246, + 0.3164143801409082, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + 0.35905751457299895, + 0.31121284986040787, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "cybersecurity" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example61/input/input.png b/Semantic/select_book_semantic/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..29d3b39918d9fbb38efcc58d46c7361962a9a307 --- /dev/null +++ b/Semantic/select_book_semantic/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18545c727d978256ba40de3f2201231d7a6b7808d1bbc86e0e14df25a02a8274 +size 659336 diff --git a/Semantic/select_book_semantic/example61/input/input_mask.png b/Semantic/select_book_semantic/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9263754ac6aa7c8fba559ce9267750e7636d61e5 --- /dev/null +++ b/Semantic/select_book_semantic/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:604e0dbcb0e2fbb11d5c105e1efcc68eafccac9c3b5bd4e3bf44ff74c803b5e2 +size 546998 diff --git a/Semantic/select_book_semantic/example61/input/instruction.txt b/Semantic/select_book_semantic/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5a8a4c7fdcf853681a3107dae9e72cbbc16c048d --- /dev/null +++ b/Semantic/select_book_semantic/example61/input/instruction.txt @@ -0,0 +1 @@ + Thinking about getting some cybersecurity certifications. Can you grab that book so I can start studying? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example61/output/operation_sequence.json b/Semantic/select_book_semantic/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example61/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example62/env_config/env_config.json b/Semantic/select_book_semantic/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..abf78635c0bd5182905e5d0798d5b1e0b01c43a6 --- /dev/null +++ b/Semantic/select_book_semantic/example62/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.585635918602863e-11, + 1.0370183708047088e-09, + -1.2354373976503666e-06 + ], + "orientation": [ + 0.999999999999972, + -2.3576776685611253e-07, + -9.861736389282746e-09, + -2.9778238525156605e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.013815768008396508, + 0.2686419419652091, + 0.7599985876769915 + ], + "orientation": [ + 0.9997051554963768, + -2.1491223614219674e-07, + -1.6101642958404554e-08, + -0.02428172304263931 + ], + "class": "Shelf" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + -0.1853377979049121, + 0.23796096894670857, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + -0.07427824867567813, + 0.2609615603822553, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cotton_the_fabric_that_made_the_modern_world", + "xml_path": "obj/meshes/books/bookscan/cotton_the_fabric_that_made_the_modern_world/cotton_the_fabric_that_made_the_modern_world.xml", + "position": [ + 0.06032659694539637, + 0.25313405766795566, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "cotton_the_fabric_that_made_the_modern_world" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example62/input/input.png b/Semantic/select_book_semantic/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..abf3c1c8634798a571f1cf34ba85ece2bdd20030 --- /dev/null +++ b/Semantic/select_book_semantic/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:656facaf22fdf4b30be8d84d1aacf584352846915c544b95b06bc0c2727ff330 +size 643405 diff --git a/Semantic/select_book_semantic/example62/input/input_mask.png b/Semantic/select_book_semantic/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ab83c33b3fad58818c2c8364354bd631af9df2f2 --- /dev/null +++ b/Semantic/select_book_semantic/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0050d6ec3e0f58fa582cd6749979ea1a04d26cb021eaed93477f22a82ec34cd +size 533353 diff --git a/Semantic/select_book_semantic/example62/input/instruction.txt b/Semantic/select_book_semantic/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..83f9636b5ec4bc6948dfa337120d38da7411c400 --- /dev/null +++ b/Semantic/select_book_semantic/example62/input/instruction.txt @@ -0,0 +1 @@ + Im fascinated by how certain materials have shaped the world. Can you get me the book about the history of cotton? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example62/output/operation_sequence.json b/Semantic/select_book_semantic/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example62/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example63/env_config/env_config.json b/Semantic/select_book_semantic/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bceaa0038300ccb2b70cb3ee0163eaf558d265d5 --- /dev/null +++ b/Semantic/select_book_semantic/example63/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.019957275074905e-11, + 8.592121257275043e-10, + -1.2355012716395464e-06 + ], + "orientation": [ + 0.9999999999999577, + -2.8893135101421555e-07, + -3.2067214223471254e-08, + -6.987657468906143e-12 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.037743358463499216, + 0.33562995204234825, + 0.7599985181836887 + ], + "orientation": [ + 0.9988957354489609, + -2.6959335608986037e-07, + -1.7508778462468088e-08, + 0.046982014663129734 + ], + "class": "Shelf" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + -0.1890938603609515, + 0.3221517512968151, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.1014045243298981, + 0.3349470517862467, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + 0.05209353037587082, + 0.3106094579715296, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + 0.13769988629801763, + 0.3159579425746984, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example63/input/input.png b/Semantic/select_book_semantic/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..695d6df1574b0cb128dd9e432211f69d59a593ee --- /dev/null +++ b/Semantic/select_book_semantic/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b85eb204c0ea5b6de858527e55e7b90499e8e03b60388f45d11432f8c1795375 +size 667643 diff --git a/Semantic/select_book_semantic/example63/input/input_mask.png b/Semantic/select_book_semantic/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0cd0e03562eef94b9bd880a209e14dc9f2221dc8 --- /dev/null +++ b/Semantic/select_book_semantic/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d39e19b0b332602459aa14833b5eb3d643a24c5c35d6b686143fd333f73053e7 +size 553781 diff --git a/Semantic/select_book_semantic/example63/input/instruction.txt b/Semantic/select_book_semantic/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad95b352699a0e1ad3d5fa9b84bb31485ecf7fd0 --- /dev/null +++ b/Semantic/select_book_semantic/example63/input/instruction.txt @@ -0,0 +1 @@ + I have a call with our Japanese partners in an hour. I need to grab my contract law book to refresh my memory. Can you get it for me?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example63/output/operation_sequence.json b/Semantic/select_book_semantic/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example63/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example64/env_config/env_config.json b/Semantic/select_book_semantic/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bc46c96adf9e54d2d027b50eb07f5baeb9290e86 --- /dev/null +++ b/Semantic/select_book_semantic/example64/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.4865340714278944e-10, + 9.996236823375266e-10, + -1.2354563228429947e-06 + ], + "orientation": [ + 0.9999999999999684, + -2.3809756584006158e-07, + 7.063229141732123e-08, + 1.2720096294493108e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.09149364456959655, + 0.27163953261366397, + 0.7599985723249358 + ], + "orientation": [ + 0.9989660322451903, + -2.1410718211817028e-07, + 8.231264240503786e-08, + 0.04546280260001766 + ], + "class": "Shelf" + }, + { + "name": "the_life_of_samuel_johnson", + "xml_path": "obj/meshes/books/bookscan/the_life_of_samuel_johnson/the_life_of_samuel_johnson.xml", + "position": [ + -0.07775060320769303, + 0.26849420671327706, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + -0.007154040766723363, + 0.2638149807762536, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + 0.14783823394847687, + 0.2940189585487929, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + 0.35013391436342023, + 0.2596169898073666, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "the_life_of_samuel_johnson" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example64/input/input.png b/Semantic/select_book_semantic/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..36d829541ae6f8ed69830ff80420efbbfba08f21 --- /dev/null +++ b/Semantic/select_book_semantic/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:182b3c0a88008f2c91a00d825900a56ff3fc6af51e546d1b4dc1d3f657761ac1 +size 662970 diff --git a/Semantic/select_book_semantic/example64/input/input_mask.png b/Semantic/select_book_semantic/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fab1adad02c4235dc14d163f015b459258d40ef2 --- /dev/null +++ b/Semantic/select_book_semantic/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1c8a218a02f15ca8d92e5d92771da628d1a5b82ff92875e8efac17dd7cec75f +size 539690 diff --git a/Semantic/select_book_semantic/example64/input/instruction.txt b/Semantic/select_book_semantic/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8ee4ae00b928d9f04f3b861b47f745b45b96103f --- /dev/null +++ b/Semantic/select_book_semantic/example64/input/instruction.txt @@ -0,0 +1 @@ + Im trying to better understand English literary history, could you help me out by grabbing that book on Samuel Johnson? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example64/output/operation_sequence.json b/Semantic/select_book_semantic/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example64/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example65/env_config/env_config.json 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4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "landmark_cases_in_property_law" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example65/input/input.png b/Semantic/select_book_semantic/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..47e650473d1079961dc01d65cdf3f39506a644d3 --- /dev/null +++ b/Semantic/select_book_semantic/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76e3dde71d74becc9ef66f270a1da5bba6cf845da8be349c7c25c5e8a4c3a702 +size 645605 diff --git a/Semantic/select_book_semantic/example65/input/input_mask.png b/Semantic/select_book_semantic/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fa92a7cc5eeb7f84c9a2106553b47b30a63e4e3b --- /dev/null +++ b/Semantic/select_book_semantic/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:348f191ae1334c90651a8739e16403e7b90e7b97d3b3caee5c1d96d40ea3ff8d +size 530580 diff --git a/Semantic/select_book_semantic/example65/input/instruction.txt b/Semantic/select_book_semantic/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc115df1a715a1f08d1a6e7d78be8289557fb7aa --- /dev/null +++ b/Semantic/select_book_semantic/example65/input/instruction.txt @@ -0,0 +1 @@ + Im prepping for my property law midterm and need to review the key cases. Can you grab my textbook?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example65/output/operation_sequence.json b/Semantic/select_book_semantic/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example65/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example66/env_config/env_config.json b/Semantic/select_book_semantic/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4d25228a6e2acacf38189bbaf6253486ab71d013 --- /dev/null +++ b/Semantic/select_book_semantic/example66/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.250031588342811e-10, + 1.030779006835954e-09, + -1.2354393289680854e-06 + ], + "orientation": [ + 0.9999999999999719, + -2.3709799154585177e-07, + 2.0559439566097e-08, + 4.968583343716751e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.027720944531908476, + 0.27034024652900757, + 0.7599985852874076 + ], + "orientation": [ + 0.9994638171559664, + -2.1575522579429944e-07, + 2.8972458438255664e-08, + 0.03274260521059247 + ], + "class": "Shelf" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + -0.1343644320278479, + 0.2871987697937737, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "electron_transport_in_quantum_dots", + "xml_path": "obj/meshes/books/bookscan/electron_transport_in_quantum_dots/electron_transport_in_quantum_dots.xml", + "position": [ + -0.018384255417353314, + 0.27899401644464206, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cloud_computing", + "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", + "position": [ + 0.11946070262207258, + 0.2712289512590197, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "cloud_computing" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example66/input/input.png b/Semantic/select_book_semantic/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..aafa667ce9e64e3723d61b49f757d9e0a8772926 --- /dev/null +++ b/Semantic/select_book_semantic/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67c270cf02386579db2ed112dc4a9103ad63a26e716f96b31b4ed232f4b9e85 +size 647814 diff --git a/Semantic/select_book_semantic/example66/input/input_mask.png b/Semantic/select_book_semantic/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ed721a4fe8973fb6defac12d44457172548722aa --- /dev/null +++ b/Semantic/select_book_semantic/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da1ea44731ce3655de48be893fc5a504ad4723b0e2cb05975895fc5d3a617024 +size 535486 diff --git a/Semantic/select_book_semantic/example66/input/instruction.txt b/Semantic/select_book_semantic/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c19fc001c63dd0270ed803e7c3d3c9e10954d96 --- /dev/null +++ b/Semantic/select_book_semantic/example66/input/instruction.txt @@ -0,0 +1 @@ +** Im starting my assignment on distributed systems. Can you please bring me my cloud computing book? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example66/output/operation_sequence.json b/Semantic/select_book_semantic/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example66/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example67/env_config/env_config.json b/Semantic/select_book_semantic/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b708b5ff6405163eda13b1c8d3129df119d99013 --- /dev/null +++ b/Semantic/select_book_semantic/example67/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.822141959477894e-11, + 1.0342164691853458e-09, + -1.235442473191194e-06 + ], + "orientation": [ + 0.9999999999999731, + -2.3378808109034337e-07, + -5.212477858397288e-09, + -2.0873720365975176e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.0077568936068889895, + 0.26613577775771496, + 0.7599985900992766 + ], + "orientation": [ + 0.9997862051033028, + -2.130817356586297e-07, + -1.048855721345001e-08, + -0.020677139190194413 + ], + "class": "Shelf" + }, + { + "name": "introduction_to_electronics", + "xml_path": "obj/meshes/books/bookscan/introduction_to_electronics/introduction_to_electronics.xml", + "position": [ + -0.2130252469016582, + 0.25317297999484484, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 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-0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c06bd5121aed59c126409ea0a7b5bac2f57fe2d2b671f6516993e0fcb2dc390a +size 699345 diff --git a/Semantic/select_book_semantic/example67/input/input_mask.png b/Semantic/select_book_semantic/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0037efa7cc36a3379160630905828ed345166361 --- /dev/null +++ b/Semantic/select_book_semantic/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d1ee05199379a6bb386c9b1365c476155dd028a956c24b0b602fd11226a4454 +size 560376 diff --git a/Semantic/select_book_semantic/example67/input/instruction.txt b/Semantic/select_book_semantic/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b2fd40fd24c1cdb5db2b402e42728b17f9fd62eb --- /dev/null +++ b/Semantic/select_book_semantic/example67/input/instruction.txt @@ -0,0 +1 @@ + I need a good book for my book club discussion next week, please fetch me that masterpiece by Marquez. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example67/output/operation_sequence.json b/Semantic/select_book_semantic/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example67/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example68/env_config/env_config.json b/Semantic/select_book_semantic/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5ffff98e493d583655aef843edaa2ca1766fab --- /dev/null +++ b/Semantic/select_book_semantic/example68/env_config/env_config.json @@ 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b/Semantic/select_book_semantic/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6512a592d39647e860986e704b8186758a0126ab7f35aa456d2234aa35e7f477 +size 639587 diff --git a/Semantic/select_book_semantic/example68/input/input_mask.png b/Semantic/select_book_semantic/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5160104f22ff108203900cf5725954a1ce6542c8 --- /dev/null +++ b/Semantic/select_book_semantic/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d12cc3dcd078e0da3ddf0cfe72faa32be7b03a857a4a52b276b003b896fb0206 +size 527758 diff --git a/Semantic/select_book_semantic/example68/input/instruction.txt b/Semantic/select_book_semantic/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f6b445b697012a665728e82480a1176989a114ea --- /dev/null +++ b/Semantic/select_book_semantic/example68/input/instruction.txt @@ -0,0 +1 @@ + Our discussion group is exploring the major agricultural crops that shaped the world. Could you bring me the specific book about cotton? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example68/output/operation_sequence.json b/Semantic/select_book_semantic/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example68/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example69/env_config/env_config.json b/Semantic/select_book_semantic/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..940196f29c0a9b6abb6cac7a6f6cf8b66384a34c --- /dev/null +++ b/Semantic/select_book_semantic/example69/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.0918164509754282e-10, + 9.418847893794657e-10, + -1.2354697970340659e-06 + ], + "orientation": [ + 0.9999999999999633, + -2.6638513109757514e-07, + -2.8590060758041372e-08, + 2.084741778925375e-12 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.032823910554068185, + 0.3073214052977841, + 0.7599985489784803 + ], + "orientation": [ + 0.9983951169372385, + -2.470592547334073e-07, + -1.2310640101018742e-08, + 0.05663206225997614 + ], + "class": "Shelf" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.2752239663732772, + 0.3043291146560796, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "scholars_of_contract_law", + "xml_path": "obj/meshes/books/bookscan/scholars_of_contract_law/scholars_of_contract_law.xml", + "position": [ + -0.06700030064809925, + 0.3269664723815112, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + 0.0702393712811095, + 0.30315153290114477, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "engineering_biopolymers" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example69/input/input.png b/Semantic/select_book_semantic/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e43dd924ca3b98943c3455ae17452e20bf3fae1d --- /dev/null +++ b/Semantic/select_book_semantic/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86356762da01a5c6ed0fa55facc95f83c24d7cb3255c2da6244843f60b585063 +size 643929 diff --git a/Semantic/select_book_semantic/example69/input/input_mask.png b/Semantic/select_book_semantic/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..923929f2dcf618f4ded467c0ee41666711c1e174 --- /dev/null +++ b/Semantic/select_book_semantic/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:936168756aedded5c75599b917c4918ea8975d5c2d018048cc6d681b55a2fc1e +size 535339 diff --git a/Semantic/select_book_semantic/example69/input/instruction.txt b/Semantic/select_book_semantic/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0b31c6547968823f31655d4a28749987b784d73 --- /dev/null +++ b/Semantic/select_book_semantic/example69/input/instruction.txt @@ -0,0 +1 @@ + Im trying to figure out the best biopolymer for a new medical implant. Could you get Engineering Biopolymers for me?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example69/output/operation_sequence.json b/Semantic/select_book_semantic/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example69/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example7/env_config/env_config.json b/Semantic/select_book_semantic/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1807a047b142f3e8a19df438cc271627a4cd55dd --- /dev/null +++ b/Semantic/select_book_semantic/example7/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.2541387416061544e-11, + 9.72995659204243e-10, + -1.2354615935330812e-06 + ], + "orientation": [ + 0.9999999999999655, + -2.582155282399264e-07, + -3.1375496440503263e-08, + -2.396322179940911e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.037970264992130826, + 0.29690250611521046, + 0.759998558883987 + ], + "orientation": [ + 0.9996188744307227, + -2.384401854139329e-07, + -2.3686215612674465e-08, + 0.02760626526348095 + ], + "class": "Shelf" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.2500168908864373, + 0.2907395539981605, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + -0.09409451821439241, + 0.2926322179873854, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_life_of_samuel_johnson", + "xml_path": "obj/meshes/books/bookscan/the_life_of_samuel_johnson/the_life_of_samuel_johnson.xml", + "position": [ + 0.05249062390685061, + 0.2992188422884556, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "engineering_biopolymers" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example7/input/input.png b/Semantic/select_book_semantic/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0e3509c23559ae2c14fcb3808d1a340517c044d5 --- /dev/null +++ b/Semantic/select_book_semantic/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0869cf4f395cb9b07c8a748a2d02747e86d1ba5916840f2e80f87851353609ac +size 646998 diff --git a/Semantic/select_book_semantic/example7/input/input_mask.png b/Semantic/select_book_semantic/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3d6abfb09b6a3e1ac3352398f46084c114757a5c --- /dev/null +++ b/Semantic/select_book_semantic/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:036fbcf8cb0d62bb94d2457772a98c25568faf2adf8ea5037f4dfd6a6afc376a +size 535568 diff --git a/Semantic/select_book_semantic/example7/input/instruction.txt b/Semantic/select_book_semantic/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..31fa79be33b8e9734040962f221f92e01dda0e05 --- /dev/null +++ b/Semantic/select_book_semantic/example7/input/instruction.txt @@ -0,0 +1 @@ +** Im trying to remember the synthesis process for a specific biopolymer. Please bring me the Engineering Biopolymers textbook. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example7/output/operation_sequence.json b/Semantic/select_book_semantic/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example7/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example70/env_config/env_config.json b/Semantic/select_book_semantic/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..993f7eb34e8f17e42cee816a7c9dba6238b59f63 --- /dev/null +++ b/Semantic/select_book_semantic/example70/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9137866015850284e-10, + 8.885671185746172e-10, + -1.235496340850351e-06 + ], + "orientation": [ + 0.9999999999999581, + -2.77119484983021e-07, + 7.234979277859002e-08, + 1.1340284536737727e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.09206497618253197, + 0.3206517180329885, + 0.7599985235184946 + ], + "orientation": [ + 0.9998469510619261, + -2.552649664992439e-07, + 7.753931396291027e-08, + 0.017494983626707063 + ], + "class": "Shelf" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.12449977080702063, + 0.335859816329795, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cloud_computing", + "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", + "position": [ + 0.012361114628935117, + 0.3131862891069537, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + 0.18631065314185052, + 0.31171439026542563, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_autobiography_of_benjamin_franklin", + "xml_path": "obj/meshes/books/bookscan/the_autobiography_of_benjamin_franklin/the_autobiography_of_benjamin_franklin.xml", + "position": [ + 0.2599106560594215, + 0.32499746575413957, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "the_story_of_american_freedom" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example70/input/input.png b/Semantic/select_book_semantic/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2d4dcf8c76e8a915f35123349940446378a40b90 --- /dev/null +++ b/Semantic/select_book_semantic/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cf06f8c6023d53e4119fd645e23fb61b1f308f4b0997b190b3f4446862b5f44 +size 669273 diff --git a/Semantic/select_book_semantic/example70/input/input_mask.png b/Semantic/select_book_semantic/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f16477ca45b1a022f2577de87ec648f11c745d76 --- /dev/null +++ b/Semantic/select_book_semantic/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a651a04902bf0575346358bdd4acc86ff1d8244f99fee9c554ad168d2f3889c +size 550295 diff --git a/Semantic/select_book_semantic/example70/input/instruction.txt b/Semantic/select_book_semantic/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2d802b94a1df7d091098e638768feb22ca6f05a --- /dev/null +++ b/Semantic/select_book_semantic/example70/input/instruction.txt @@ -0,0 +1 @@ +** Were discussing the evolution of civil rights next week. Could you grab my copy of The Story of American Freedom off the shelf? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example70/output/operation_sequence.json b/Semantic/select_book_semantic/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example70/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example71/env_config/env_config.json b/Semantic/select_book_semantic/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1b7b06d7b309a6349db9aa298165100f8dabb875 --- /dev/null +++ b/Semantic/select_book_semantic/example71/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.470288684361888e-10, + 9.543113499801313e-10, + -1.2354641392365817e-06 + ], + "orientation": [ + 0.9999999999999651, + -2.618806222176359e-07, + -1.872812172665066e-08, + 1.9991575995759e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.020017901826736958, + 0.3016996577353243, + 0.7599985558250737 + ], + "orientation": [ + 0.9979803541112332, + -2.420318183300398e-07, + -7.640217667080592e-10, + 0.06352332491265708 + ], + "class": "Shelf" + }, + { + "name": "a_tale_of_two_cities", + "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml", + "position": [ + -0.29078934727045397, + 0.295116195281757, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + -0.0761777122075408, + 0.2714674879872771, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + 0.09078118833515683, + 0.29268916176669635, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "data_visualization" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example71/input/input.png b/Semantic/select_book_semantic/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ffaef48256d07e04400616ec8ce4806256dbcb66 --- /dev/null +++ b/Semantic/select_book_semantic/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08d33ace655d2d812567f122dd52f583bd99b425c38750876829542cd8d697d7 +size 648203 diff --git a/Semantic/select_book_semantic/example71/input/input_mask.png b/Semantic/select_book_semantic/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e8b72e469f450a2b9e99403b0402cb9680783f1c --- /dev/null +++ b/Semantic/select_book_semantic/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff7c51308218fbf69f1bc736e0a659d7c5ca7de873a79c8583394881594094bb +size 539984 diff --git a/Semantic/select_book_semantic/example71/input/instruction.txt b/Semantic/select_book_semantic/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cde0333ec4ed50809da4172f08aca9065700883b --- /dev/null +++ b/Semantic/select_book_semantic/example71/input/instruction.txt @@ -0,0 +1 @@ + These graphs are not telling the story I want them to. Hand me that data visualization book; Im sure it has some useful examples.` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example71/output/operation_sequence.json b/Semantic/select_book_semantic/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example71/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example72/env_config/env_config.json b/Semantic/select_book_semantic/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ce51f73a9650ad13a6094e35ab24be2065c1a82e --- /dev/null +++ b/Semantic/select_book_semantic/example72/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.120081374297797e-11, + 1.053551172064778e-09, + -1.2354307512442639e-06 + ], + "orientation": [ + 0.9999999999999742, + -2.269541530643696e-07, + 3.017694378801656e-08, + 1.3089422343527227e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.03543341555576876, + 0.25762890511613273, + 0.759998595552798 + ], + "orientation": [ + 0.9989846939040029, + -2.0755101579657348e-07, + 1.898062811963477e-08, + -0.0450508750800872 + ], + "class": "Shelf" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + -0.15410009321020396, + 0.25601952792234606, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + -0.0437941985605576, + 0.26161072294126475, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_autobiography_of_benjamin_franklin", + "xml_path": "obj/meshes/books/bookscan/the_autobiography_of_benjamin_franklin/the_autobiography_of_benjamin_franklin.xml", + "position": [ + 0.1374169049211231, + 0.265976083609378, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example72/input/input.png b/Semantic/select_book_semantic/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8af35fa859f0c8d2eec64052d455bbde8fc196d6 --- /dev/null +++ b/Semantic/select_book_semantic/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:169d23441acd95750ee57836c8d96e48909f5bdf9a9a29abf01b78cc226acbcb +size 650817 diff --git a/Semantic/select_book_semantic/example72/input/input_mask.png b/Semantic/select_book_semantic/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1552d8116ea17cbf4503fbbcad734f8ac5aeef72 --- /dev/null +++ b/Semantic/select_book_semantic/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:618e5cb5f0ef088219dd6ca2c83199f648a8dfb330a0871c5b62341533c0e8a6 +size 534840 diff --git a/Semantic/select_book_semantic/example72/input/instruction.txt b/Semantic/select_book_semantic/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..263230b5a7c9789568b9f6b5d52f7ad0c7446343 --- /dev/null +++ b/Semantic/select_book_semantic/example72/input/instruction.txt @@ -0,0 +1 @@ + Im meeting with our Japanese partners tomorrow and need to brush up on the legal specifics. Can you grab my book on Japanese contract law?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example72/output/operation_sequence.json b/Semantic/select_book_semantic/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example72/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example73/env_config/env_config.json b/Semantic/select_book_semantic/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3f32a51404119d9c2777228f75e05fa3661a09 --- /dev/null +++ b/Semantic/select_book_semantic/example73/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.6011747004136584e-11, + 8.255142382511117e-10, + -1.2355118615893372e-06 + ], + "orientation": [ + 0.9999999999999545, + -2.9898266810307823e-07, + -2.5751445488309597e-08, + -4.323249477827698e-12 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.030288383660553402, + 0.34823443398333936, + 0.7599985047483564 + ], + "orientation": [ + 0.9992718301583274, + -2.792152950503912e-07, + -1.3557731665620314e-08, + 0.03815507111705083 + ], + "class": "Shelf" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.21826613073216125, + 0.336901003319606, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "a_tale_of_two_cities", + "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml", + "position": [ + -0.13525231407101904, + 0.34800037458577404, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + 0.03876901148643473, + 0.3222122818136001, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "scholars_of_contract_law", + "xml_path": "obj/meshes/books/bookscan/scholars_of_contract_law/scholars_of_contract_law.xml", + "position": [ + 0.21511605778405463, + 0.32749706365888437, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "a_tale_of_two_cities" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example73/input/input.png b/Semantic/select_book_semantic/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c4c901595a782131f747e9a802275a2b2ca646d3 --- /dev/null +++ b/Semantic/select_book_semantic/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55af01039418781484ccf9cb6167e7fb92450f662d6bd05284fc24fc7537aa5d +size 662971 diff --git a/Semantic/select_book_semantic/example73/input/input_mask.png b/Semantic/select_book_semantic/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33f7f9273813dac0d86a2ebfd99169b1898e5615 --- /dev/null +++ b/Semantic/select_book_semantic/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d58790e231907dacbb3de0582add04b1e282ededb9d41a2370476ecb370181e3 +size 550617 diff --git a/Semantic/select_book_semantic/example73/input/instruction.txt b/Semantic/select_book_semantic/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab1f2d45308ab07c0b3e73e214e1a6caa63781ce --- /dev/null +++ b/Semantic/select_book_semantic/example73/input/instruction.txt @@ -0,0 +1 @@ +** We were just talking about classic literature. Can you get A Tale of Two Cities down for me? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example73/output/operation_sequence.json b/Semantic/select_book_semantic/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example73/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example74/env_config/env_config.json b/Semantic/select_book_semantic/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ed28a9d8f7ca9fdb6ef48edf986b412335320bb9 --- /dev/null +++ b/Semantic/select_book_semantic/example74/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5343964097064257e-10, + 9.680686291582762e-10, + -1.235463250059314e-06 + ], + "orientation": [ + 0.9999999999999674, + -2.5496632634750424e-07, + 5.366604515104965e-09, + -3.297217574381085e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.0035265700813219545, + 0.2929521897247682, + 0.7599985651716196 + ], + "orientation": [ + 0.9983861265410566, + -2.3434273218615712e-07, + -1.0307881246005581e-08, + -0.0567903365925048 + ], + "class": "Shelf" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + -0.19138391029261684, + 0.2830100730644412, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + -0.07733221786057047, + 0.2844066405164911, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "flash_mx_bible", + "xml_path": "obj/meshes/books/bookscan/flash_mx_bible/flash_mx_bible.xml", + "position": [ + 0.08751113380311054, + 0.2979932210436964, + 1.1709714109126204 + ], + "orientation": [ + -1.6631131837258518e-05, + 0.709086226257528, + 0.705121778987933, + -1.5879351996078367e-05 + ], + "class": "Book" + }, + { + "name": "introduction_to_electronics", + "xml_path": "obj/meshes/books/bookscan/introduction_to_electronics/introduction_to_electronics.xml", + "position": [ + 0.1622574007602642, + 0.29664807797925535, + 1.170990588115483 + ], + "orientation": [ + -1.6631131837297675e-05, + 0.709086226257528, + 0.705121778987933, + -1.5879351996095915e-05 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "steve_jobs" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example74/input/input.png b/Semantic/select_book_semantic/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d1c28a0453a6d3a6b19d72382e6d6395ec9e075b --- /dev/null +++ b/Semantic/select_book_semantic/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcf4e61e515325864d8066b2b6d4fe68307150c83c64b1ff86cdcbe1450562ff +size 678586 diff --git a/Semantic/select_book_semantic/example74/input/input_mask.png b/Semantic/select_book_semantic/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..486a002dbe73906ba06325be7e0cd60a88d738f8 --- /dev/null +++ b/Semantic/select_book_semantic/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d23dcc326123d5c5e13a4a13c25a7b2e9e0a17c9108390673bc27970ba81604 +size 558135 diff --git a/Semantic/select_book_semantic/example74/input/instruction.txt b/Semantic/select_book_semantic/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66e01d95a46c266d9eb3402d736b181247899065 --- /dev/null +++ b/Semantic/select_book_semantic/example74/input/instruction.txt @@ -0,0 +1 @@ + Just finished reading a really dry business book. Now I need something inspiring. Hand me that Steve Jobs biography. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example74/output/operation_sequence.json b/Semantic/select_book_semantic/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example74/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example75/env_config/env_config.json b/Semantic/select_book_semantic/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b81e7ff232106606c9f1ac0f2bc0ad43aeace419 --- /dev/null +++ b/Semantic/select_book_semantic/example75/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.2857799382671236e-10, + 1.051127626510466e-09, + -1.2354305672536115e-06 + ], + "orientation": [ + 0.9999999999999745, + -2.286830403899449e-07, + -5.61247647663006e-09, + -3.4597134853785955e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.00946561287453147, + 0.25979073088120824, + 0.7599985957057335 + ], + "orientation": [ + 0.9991179416139321, + -2.0771065008154302e-07, + -1.6092837823526114e-08, + -0.041992127179932254 + ], + "class": "Shelf" + }, + { + "name": "a_tale_of_two_cities", + "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml", + "position": [ + -0.22102832466511427, + 0.2667569843815558, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "mobile_computing_principles", + "xml_path": "obj/meshes/books/bookscan/mobile_computing_principles/mobile_computing_principles.xml", + "position": [ + -0.07608298036073624, + 0.2779809921140244, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + 0.060371247695965066, + 0.28091378641191234, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "a_tale_of_two_cities" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example75/input/input.png b/Semantic/select_book_semantic/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a60135cf76fbca4e0aea87e32b0af00f22ee2527 --- /dev/null +++ b/Semantic/select_book_semantic/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80664078b18b5d130c4b7bffea3739efe94977b54d9c74b7697d27f904ec0a57 +size 661858 diff --git a/Semantic/select_book_semantic/example75/input/input_mask.png b/Semantic/select_book_semantic/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6440a56241d71d4f071ed3d6f36b51cf5ae4388e --- /dev/null +++ b/Semantic/select_book_semantic/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f88a2d44a00ef98ec343c9b09f8475af6e4f4fc17a16d94b3c09c3f70f8059f +size 545883 diff --git a/Semantic/select_book_semantic/example75/input/instruction.txt b/Semantic/select_book_semantic/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..05a991961c3c2216c986a33f99f73ecd7786b17e --- /dev/null +++ b/Semantic/select_book_semantic/example75/input/instruction.txt @@ -0,0 +1 @@ +** Im in the mood for a classic. Can you grab *A Tale of Two Cities* off the shelf? Its been too long since Ive read it. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example75/output/operation_sequence.json b/Semantic/select_book_semantic/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example75/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example76/env_config/env_config.json b/Semantic/select_book_semantic/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6517830eac2949612275a747931eadc5112c9b49 --- /dev/null +++ b/Semantic/select_book_semantic/example76/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.68211375959938e-11, + 1.045737896756607e-09, + -1.2354360741358298e-06 + ], + "orientation": [ + 0.9999999999999726, + -2.3096749674336716e-07, + -4.112773288510334e-08, + -6.174323906589251e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.05221338207888558, + 0.26256518728989253, + 0.7599985890423239 + ], + "orientation": [ + 0.9999753860870817, + -2.101202359679661e-07, + -4.29130895517899e-08, + -0.007016211224494039 + ], + "class": "Shelf" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + -0.3428864980317041, + 0.25040622270060686, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "government_and_information_rights", + "xml_path": "obj/meshes/books/bookscan/government_and_information_rights/government_and_information_rights.xml", + "position": [ + -0.1308750182134602, + 0.2442950829040172, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + 0.004049964730463117, + 0.24065155967752527, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "biopolymer_composites_in_electronics" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example76/input/input.png b/Semantic/select_book_semantic/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c56c61aa87d7f52aa72c4d37f317de36b979cb7f --- /dev/null +++ b/Semantic/select_book_semantic/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7deb0a879f773e34748a881590d84fcce33abd448dc19affb68ab382629f847 +size 634511 diff --git a/Semantic/select_book_semantic/example76/input/input_mask.png b/Semantic/select_book_semantic/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4d9fd6802533d49afaa8c28f435dfbf6df07840c --- /dev/null +++ b/Semantic/select_book_semantic/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fc268d6cb59ff9dd70687dca7c2384918201181e54f311f8b019bc8c1e5e83d +size 525225 diff --git a/Semantic/select_book_semantic/example76/input/instruction.txt b/Semantic/select_book_semantic/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ce4d1b3e13301a791d90b9ae6fcfb5b0f6473e99 --- /dev/null +++ b/Semantic/select_book_semantic/example76/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a presentation on sustainable tech. Could you hand me that thick book on biopolymer composites and their use in electronics? Its on the shelf. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example76/output/operation_sequence.json b/Semantic/select_book_semantic/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example76/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example77/env_config/env_config.json b/Semantic/select_book_semantic/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c7f789281cab5f1b90f1b254aabcbeeba3e1fa --- /dev/null +++ b/Semantic/select_book_semantic/example77/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.001357809259991e-11, + 9.341853805003652e-10, + -1.2354794380486811e-06 + ], + "orientation": [ + 0.9999999999999635, + -2.6318475119464683e-07, + -6.317072728820348e-08, + -4.6915441522052706e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.07643111789452807, + 0.30327621786581377, + 0.7599985452852702 + ], + "orientation": [ + 0.9984594335429375, + -2.457653111692344e-07, + -4.735017041062586e-08, + 0.055486571069525384 + ], + "class": "Shelf" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + -0.36574428110693613, + 0.30295187325367806, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "electron_transport_in_quantum_dots", + "xml_path": "obj/meshes/books/bookscan/electron_transport_in_quantum_dots/electron_transport_in_quantum_dots.xml", + "position": [ + -0.14261912472393617, + 0.286884182431902, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.011903130952709673, + 0.3118186511221303, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + 0.18097441684997614, + 0.2769910143201879, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example77/input/input.png b/Semantic/select_book_semantic/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6981725d7e44005b99210f4e975bab034b9d3108 --- /dev/null +++ b/Semantic/select_book_semantic/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b01d27efa3d9a53b6c72c93c22e2e451baf29d17ffb71d6d21cb5bc64f51b60 +size 681344 diff --git a/Semantic/select_book_semantic/example77/input/input_mask.png b/Semantic/select_book_semantic/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b75836201ff39642afc2cbfa95cf17160587a6d1 --- /dev/null +++ b/Semantic/select_book_semantic/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b4f7064f55b5fc73cbe7b3691a567fee28df3c4b12859bb650c17c0015fe0f7 +size 552403 diff --git a/Semantic/select_book_semantic/example77/input/instruction.txt b/Semantic/select_book_semantic/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7b87a52696c656d3554e76cd636fd6ba7431b386 --- /dev/null +++ b/Semantic/select_book_semantic/example77/input/instruction.txt @@ -0,0 +1 @@ + Im in the mood for something challenging and beautifully written. Could you bring me One Hundred Years of Solitude? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example77/output/operation_sequence.json b/Semantic/select_book_semantic/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example77/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example78/env_config/env_config.json b/Semantic/select_book_semantic/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1ae7ce185d805fadf6462e9c7080d6e4c8b5c007 --- /dev/null +++ b/Semantic/select_book_semantic/example78/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.216172661426251e-10, + 1.0265719500024868e-09, + -1.2354395487932103e-06 + ], + "orientation": [ + 0.9999999999999716, + -2.340860974241597e-07, + -4.373545242814983e-08, + -1.604165816190122e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.051237464622598775, + 0.2667503131854344, + 0.7599985852544181 + ], + "orientation": [ + 0.9976587216205907, + -2.1602323018929732e-07, + -2.6236214780179578e-08, + 0.06838914514980168 + ], + "class": "Shelf" + }, + { + "name": "cloud_computing", + "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", + "position": [ + -0.29141396228343325, + 0.28216323742786975, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.12197750912478234, + 0.2812165309420496, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "opengl", + "xml_path": "obj/meshes/books/bookscan/opengl/opengl.xml", + "position": [ + 0.03007440985293257, + 0.27928375304501546, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example78/input/input.png b/Semantic/select_book_semantic/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d1c357aa866b2a1d6917c1add450b7d2e6b0afea --- /dev/null +++ b/Semantic/select_book_semantic/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23cf8ae52b4d313ad6eb6774d0a1feaf8a78f9c7ec6ed16cafee4e13000587d3 +size 644626 diff --git a/Semantic/select_book_semantic/example78/input/input_mask.png b/Semantic/select_book_semantic/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..828cce053eb0a64fbb971c4ddabb0a5629a22218 --- /dev/null +++ b/Semantic/select_book_semantic/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de98405daa16716d6eafb129cd829c8d50b75211fa0864adf6c3ddca3c2a349d +size 533585 diff --git a/Semantic/select_book_semantic/example78/input/instruction.txt b/Semantic/select_book_semantic/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e93f4df4240dea0e9a153108361d571eee808e0e --- /dev/null +++ b/Semantic/select_book_semantic/example78/input/instruction.txt @@ -0,0 +1 @@ + Im in the mood for some magical realism tonight. Could you bring me One Hundred Years of Solitude? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example78/output/operation_sequence.json b/Semantic/select_book_semantic/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example78/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example79/env_config/env_config.json b/Semantic/select_book_semantic/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..09b47ca65a3d21418a43bca24446511b8f799521 --- /dev/null +++ b/Semantic/select_book_semantic/example79/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.2699652459605835e-10, + 9.49010073228753e-10, + -1.2354666554929883e-06 + ], + "orientation": [ + 0.999999999999965, + -2.6319063382226865e-07, + 3.036323425264491e-08, + -4.466236505870323e-12 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.03464998373624438, + 0.3033500393594308, + 0.7599985528086659 + ], + "orientation": [ + 0.9980092339245631, + -2.4407375316600596e-07, + 1.2391147923696143e-08, + -0.06306797127899594 + ], + "class": "Shelf" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.15629271850679188, + 0.31270182762807613, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.038383215405944124, + 0.31117270561663046, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "electron_transport_in_quantum_dots", + "xml_path": "obj/meshes/books/bookscan/electron_transport_in_quantum_dots/electron_transport_in_quantum_dots.xml", + "position": [ + 0.09188548485925739, + 0.2899715196545088, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example79/input/input.png b/Semantic/select_book_semantic/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b0d282d3c84c0488e02767ce4210db70c55fac2f --- /dev/null +++ b/Semantic/select_book_semantic/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c16e84b842c1dad0a5bdaf127777a0ee09ebbbb2b63f8bcd2aa829a965b7670 +size 654567 diff --git a/Semantic/select_book_semantic/example79/input/input_mask.png b/Semantic/select_book_semantic/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fe891d1dd998a540b2f0eb936433d192a93506be --- /dev/null +++ b/Semantic/select_book_semantic/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:487f93196aa09b48e45ab6a19fc8f2a39d9b24070b5d834168798608174596c3 +size 546416 diff --git a/Semantic/select_book_semantic/example79/input/instruction.txt b/Semantic/select_book_semantic/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e9a8dd33298706f355e47c0386dec02f3ee526fa --- /dev/null +++ b/Semantic/select_book_semantic/example79/input/instruction.txt @@ -0,0 +1 @@ +** This quarantine has me craving a long, immersive read. Please get *One Hundred Years of Solitude*. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example79/output/operation_sequence.json b/Semantic/select_book_semantic/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example79/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example8/env_config/env_config.json b/Semantic/select_book_semantic/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ea5e57e07e4ba503d7c198c3f56a37307789f7 --- /dev/null +++ b/Semantic/select_book_semantic/example8/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3331508218905187e-10, + 1.0216917219430467e-09, + -1.235447418680252e-06 + ], + "orientation": [ + 0.9999999999999715, + -2.3662197205902344e-07, + 3.426518699363918e-08, + 6.509395095487256e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.04467511816661199, + 0.2697164614470227, + 0.7599985839099894 + ], + "orientation": [ + 0.9996260048784937, + -2.1505048472257815e-07, + 4.1274465770774805e-08, + 0.027346853029420443 + ], + "class": "Shelf" + }, + { + "name": "wi-foo", + "xml_path": "obj/meshes/books/bookscan/wi-foo/wi-foo.xml", + "position": [ + -0.1991005484892031, + 0.2655015850641417, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "a_tale_of_two_cities", + "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml", + "position": [ + -0.03377744846488934, + 0.2688818048702813, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + 0.07948251797047637, + 0.2664046217375115, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + 0.2328855985946401, + 0.2694700566383281, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "the_story_of_american_freedom" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example8/input/input.png b/Semantic/select_book_semantic/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dea28d6b591e11865655c45cd853001b068754f6 --- /dev/null +++ b/Semantic/select_book_semantic/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7ce3974d39e54df3575561878fa37db727f205ef42d671c20deef413a1a84df +size 680541 diff --git a/Semantic/select_book_semantic/example8/input/input_mask.png b/Semantic/select_book_semantic/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a7d448c34a15726529ca268443ae9760be38ed48 --- /dev/null +++ b/Semantic/select_book_semantic/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b09f402e0bbe3a3cf26a8060192d11a941fe939c10ec7cb87d391eb7c9357b8 +size 551890 diff --git a/Semantic/select_book_semantic/example8/input/instruction.txt b/Semantic/select_book_semantic/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7f01a504274836861e35c25b099e8375d503acd0 --- /dev/null +++ b/Semantic/select_book_semantic/example8/input/instruction.txt @@ -0,0 +1 @@ +** Im feeling patriotic today and want to brush up on my history. Can you get *The Story of American Freedom* for me? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example8/output/operation_sequence.json b/Semantic/select_book_semantic/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example8/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example80/env_config/env_config.json b/Semantic/select_book_semantic/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d447826afb4bc106585f7be99cd1e598e8fa32c3 --- /dev/null +++ b/Semantic/select_book_semantic/example80/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.532048740117317e-11, + 9.160214886369388e-10, + -1.2354812124225052e-06 + ], + "orientation": [ + 0.9999999999999613, + -2.738906395517292e-07, + 5.0708935393508674e-08, + 3.54776590280105e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.061277729813423124, + 0.3167019397691272, + 0.7599985348761109 + ], + "orientation": [ + 0.998980876387913, + -2.5537320849747434e-07, + 3.735418180698774e-08, + -0.045135447390827935 + ], + "class": "Shelf" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + -0.12894861652048947, + 0.33159971800610843, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + -0.04663698018425886, + 0.3228185538514778, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "opengl", + "xml_path": "obj/meshes/books/bookscan/opengl/opengl.xml", + "position": [ + 0.1003834226634713, + 0.3139029176679367, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "critical_infrastructure_protection_in_homeland_security" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example80/input/input.png b/Semantic/select_book_semantic/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..01b32cdfd086be2376838573335e715028fc6932 --- /dev/null +++ b/Semantic/select_book_semantic/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:827bde4ccc72e2357d7a10ab989f0d80bd3fc024ff50b3ecda99b1adaccb4fbd +size 638880 diff --git a/Semantic/select_book_semantic/example80/input/input_mask.png b/Semantic/select_book_semantic/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1f45ff413d06b59ac8567809a800404e1f112145 --- /dev/null +++ b/Semantic/select_book_semantic/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2395f31cc61e9f406545b747461ce68a3856fa19598ffafce866d765171a3d4 +size 534010 diff --git a/Semantic/select_book_semantic/example80/input/instruction.txt b/Semantic/select_book_semantic/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6b30573c7551a2d39d8ae1b44faae7b821c7f45d --- /dev/null +++ b/Semantic/select_book_semantic/example80/input/instruction.txt @@ -0,0 +1 @@ + This article about pipeline security is fascinating. I should probably reread that textbook on critical infrastructure protection in homeland security. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example80/output/operation_sequence.json b/Semantic/select_book_semantic/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example80/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example81/env_config/env_config.json b/Semantic/select_book_semantic/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fb60ec3fb16865e43a400d794ce4e30e3655e98e --- /dev/null +++ b/Semantic/select_book_semantic/example81/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.005186958154061e-11, + 8.556969223133829e-10, + -1.2355016988990027e-06 + ], + "orientation": [ + 0.999999999999956, + -2.926792704236999e-07, + -5.016423434195714e-08, + -5.8097390480662425e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.06236375408084802, + 0.34023657293645126, + 0.759998509133787 + ], + "orientation": [ + 0.9998947436541145, + -2.728310640892014e-07, + -4.563552218428698e-08, + 0.014508673709052497 + ], + "class": "Shelf" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + -0.29693290887713336, + 0.34147639737386826, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + -0.11156968167506146, + 0.31706573423593565, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + 0.017836305302349524, + 0.33122505788373635, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "biopolymer_composites_in_electronics" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example81/input/input.png b/Semantic/select_book_semantic/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..352646cb781d2401940896c8851b4d6ae7b14508 --- /dev/null +++ b/Semantic/select_book_semantic/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd4bc4782b08d2430ccc287073209d07f7f57678c1e2b962932dbdaf1b943ae4 +size 670062 diff --git a/Semantic/select_book_semantic/example81/input/input_mask.png b/Semantic/select_book_semantic/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dd775e102db0647fb0b6459f8256d8c3e6a64675 --- /dev/null +++ b/Semantic/select_book_semantic/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33ed1b0e96766a073ff36a9b15197efe4314ab1982d0b5c951c5ab66a407acfd +size 557298 diff --git a/Semantic/select_book_semantic/example81/input/instruction.txt b/Semantic/select_book_semantic/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0615a2c6bd0dfdb3406a0b1bb9a0c88a3ba44939 --- /dev/null +++ b/Semantic/select_book_semantic/example81/input/instruction.txt @@ -0,0 +1 @@ + Im working on my project about sustainable electronics. Could you grab that book on biopolymer composites? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example81/output/operation_sequence.json b/Semantic/select_book_semantic/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example81/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example82/env_config/env_config.json b/Semantic/select_book_semantic/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..12dd84ebd6cdf422532cf9f85134e5c2b2b59f5f --- /dev/null +++ b/Semantic/select_book_semantic/example82/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.966340877899153e-10, + 1.0244377545201757e-09, + -1.2354489908581504e-06 + ], + "orientation": [ + 0.9999999999999706, + -2.307267970461427e-07, + 6.916053903558239e-08, + 1.1402966025198429e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.08871740975872656, + 0.2622944317835522, + 0.7599985813032741 + ], + "orientation": [ + 0.9995767072839605, + -2.080710843143468e-07, + 7.643510424237295e-08, + 0.0290930619788635 + ], + "class": "Shelf" + }, + { + "name": "the_life_of_samuel_johnson", + "xml_path": "obj/meshes/books/bookscan/the_life_of_samuel_johnson/the_life_of_samuel_johnson.xml", + "position": [ + -0.08216205108449187, + 0.2525076119366663, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + -0.013437817187313038, + 0.24905277849291382, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + 0.15605420140679246, + 0.2729810362670753, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + 0.3009226379178072, + 0.23697477904871928, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example82/input/input.png b/Semantic/select_book_semantic/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a2c3c6a9343e34ea6a8263c7d614f47cf3f1084c --- /dev/null +++ b/Semantic/select_book_semantic/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367d5b9547357e0306a601eba8aea575d649a1b6027f9df6938ca8dc0ab43a6d +size 645709 diff --git a/Semantic/select_book_semantic/example82/input/input_mask.png b/Semantic/select_book_semantic/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d2bcb1b31c2df5d7c793e0ac4a1dbc7ca0c0c4bc --- /dev/null +++ b/Semantic/select_book_semantic/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ae1132328960dea664b95739df87ffda600843ea4369e6a7e5e18aedc36aeab +size 529603 diff --git a/Semantic/select_book_semantic/example82/input/instruction.txt b/Semantic/select_book_semantic/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..952e763f841e5b5f873ae854812ea940cd11f5ea --- /dev/null +++ b/Semantic/select_book_semantic/example82/input/instruction.txt @@ -0,0 +1 @@ + Im writing a paper comparing contract law in Japan and the US. Can you please bring me the book focusing on Japanese contract law? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example82/output/operation_sequence.json b/Semantic/select_book_semantic/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example82/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example83/env_config/env_config.json b/Semantic/select_book_semantic/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..63951c9bec7423678d17870a5ee2d3181dfb96a9 --- /dev/null +++ b/Semantic/select_book_semantic/example83/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.312251106048006e-10, + 9.006244216222238e-10, + -1.2354842636451327e-06 + ], + "orientation": [ + 0.9999999999999604, + -2.80873690885858e-07, + -1.6284135678488722e-08, + -4.9692653485377536e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.02247744416535157, + 0.32544368994269335, + 0.7599985310215229 + ], + "orientation": [ + 0.9994049673384802, + -2.596093336340677e-07, + -2.6691593735239608e-08, + -0.03449219127719115 + ], + "class": "Shelf" + }, + { + "name": "a_tale_of_two_cities", + "xml_path": "obj/meshes/books/bookscan/a_tale_of_two_cities/a_tale_of_two_cities.xml", + "position": [ + -0.24828079539887757, + 0.3162442255444105, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.07536925321791599, + 0.3157842521975393, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "mobile_computing_principles", + "xml_path": "obj/meshes/books/bookscan/mobile_computing_principles/mobile_computing_principles.xml", + "position": [ + 0.06048032831160162, + 0.328853861060209, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example83/input/input.png b/Semantic/select_book_semantic/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f2b69dbba7288d3a3f01dcc714abf1b6d234beed --- /dev/null +++ b/Semantic/select_book_semantic/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:151ffac6a9de7f75b72ee78c940877c14d95d8cf48ec6ce7a5c7df194ad2d4b1 +size 680612 diff --git a/Semantic/select_book_semantic/example83/input/input_mask.png b/Semantic/select_book_semantic/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..38a33909b8d2e97cffafe7f84686129ecdf0e860 --- /dev/null +++ b/Semantic/select_book_semantic/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a2d6ce00f9b220695ea55c004434d36738432d37df3bc5cb77394608d8800ba +size 563321 diff --git a/Semantic/select_book_semantic/example83/input/instruction.txt b/Semantic/select_book_semantic/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0aec1defe72564904b184026566ce55740f694f --- /dev/null +++ b/Semantic/select_book_semantic/example83/input/instruction.txt @@ -0,0 +1 @@ + My book club is discussing South American authors next week. Please bring me One Hundred Years of Solitude from Gabriel García Márquez. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example83/output/operation_sequence.json b/Semantic/select_book_semantic/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example83/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example84/env_config/env_config.json b/Semantic/select_book_semantic/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..88fb8663fa9976700dc84d8cc6c798bb1b38df70 --- /dev/null +++ b/Semantic/select_book_semantic/example84/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.8766026483245947e-10, + 1.0012847774202767e-09, + -1.2354493393264535e-06 + ], + "orientation": [ + 0.9999999999999688, + -2.456748255848993e-07, + -3.51249774206583e-08, + -7.930980640012445e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.046793901667233566, + 0.2811908558235413, + 0.7599985731598918 + ], + "orientation": [ + 0.998991469766165, + -2.2331919622008866e-07, + -4.7066310161655377e-08, + -0.044900371205431854 + ], + "class": "Shelf" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.23031554121927955, + 0.2703041349300074, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.08840222379162908, + 0.25950342836558804, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.013917753581501581, + 0.27391061307692066, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "landmark_cases_in_property_law" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example84/input/input.png b/Semantic/select_book_semantic/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..987909dc5a402dbe838634a9aa8e3629048d19c2 --- /dev/null +++ b/Semantic/select_book_semantic/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8016a77b635306b95c8dde636d75d37bc6e3f94f88df37091f68a9f07006701e +size 644134 diff --git a/Semantic/select_book_semantic/example84/input/input_mask.png b/Semantic/select_book_semantic/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d16490acb52b5104aafd8ece9a4f231af126183b --- /dev/null +++ b/Semantic/select_book_semantic/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c3c5408ad7569fb217260bb7cef194edce6985c19c8020c87c75326c9dd4b5c +size 535531 diff --git a/Semantic/select_book_semantic/example84/input/instruction.txt b/Semantic/select_book_semantic/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..085175d6846e14c63fbfb24d493e37545851592a --- /dev/null +++ b/Semantic/select_book_semantic/example84/input/instruction.txt @@ -0,0 +1 @@ + Im trying to understand the difference between a fee simple and a life estate. Wheres that property law casebook?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example84/output/operation_sequence.json b/Semantic/select_book_semantic/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example84/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example85/env_config/env_config.json b/Semantic/select_book_semantic/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4a25d4584a023ccbeaac85dd70ba3f731026160f --- /dev/null +++ b/Semantic/select_book_semantic/example85/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.200685720024486e-11, + 9.454384684349168e-10, + -1.2354733770121513e-06 + ], + "orientation": [ + 0.9999999999999627, + -2.5734355136336995e-07, + -8.593754076838257e-08, + -6.568876519764815e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.10407449568940842, + 0.2960577640948589, + 0.759998544318092 + ], + "orientation": [ + 0.9972785329050748, + -2.4248361688240253e-07, + -6.52374481654168e-08, + 0.07372603208255006 + ], + "class": "Shelf" + }, + { + "name": "landmark_cases_in_property_law", + "xml_path": "obj/meshes/books/bookscan/landmark_cases_in_property_law/landmark_cases_in_property_law.xml", + "position": [ + -0.31237408715317994, + 0.2886017100545733, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.16296368882778065, + 0.27968371774235823, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "flash_mx_bible", + "xml_path": "obj/meshes/books/bookscan/flash_mx_bible/flash_mx_bible.xml", + "position": [ + -0.038875839058370554, + 0.26016205775203777, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "landmark_cases_in_property_law" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example85/input/input.png b/Semantic/select_book_semantic/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..98a146b54892a27cf5ca43221d0894d604e83fcd --- /dev/null +++ b/Semantic/select_book_semantic/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae561db0faaaebd403f41e4c7cb1001c91646e47327ec6d2478b00d1dd0e8608 +size 656980 diff --git a/Semantic/select_book_semantic/example85/input/input_mask.png b/Semantic/select_book_semantic/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6d463718acfc9eebbe324af8e8e6162acc79aa36 --- /dev/null +++ b/Semantic/select_book_semantic/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:136aae141318ce5dd429fed44247447460799569a869450428d787d7918a5cee +size 544845 diff --git a/Semantic/select_book_semantic/example85/input/instruction.txt b/Semantic/select_book_semantic/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4abab2339ff7ef2b5c82d42d197d4bd0a23b2463 --- /dev/null +++ b/Semantic/select_book_semantic/example85/input/instruction.txt @@ -0,0 +1 @@ + I have a property law class later today and I need to brush up on the foundational cases. Could you please bring me the textbook? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example85/output/operation_sequence.json b/Semantic/select_book_semantic/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example85/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example86/env_config/env_config.json b/Semantic/select_book_semantic/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..17dba47446233c5483d25d7527d4562a948fc6bc --- /dev/null +++ b/Semantic/select_book_semantic/example86/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.411458409599679e-11, + 1.7063396938518521e-09, + -1.235053217896367e-06 + ], + "orientation": [ + 0.9999999999999587, + -2.875681439852012e-07, + -1.3020848687379404e-08, + -1.0105212754486639e-13 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.014293748999346365, + 0.33439834097299953, + 0.7599985222891421 + ], + "orientation": [ + 0.9992805118348855, + -2.6734700782973586e-07, + -1.3413993100736157e-09, + 0.03792701763832884 + ], + "class": "Shelf" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.2993415123659515, + 0.3429888743182656, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + -0.08576642322877658, + 0.33149726789427697, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "scholars_of_contract_law", + "xml_path": "obj/meshes/books/bookscan/scholars_of_contract_law/scholars_of_contract_law.xml", + "position": [ + 0.04613945534770288, + 0.34606220295597845, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "foundamentals_of_molecular_biology" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example86/input/input.png b/Semantic/select_book_semantic/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a84bcd0c0e13107916ddf5f36e231c8aee2f3511 --- /dev/null +++ b/Semantic/select_book_semantic/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adf230600d180d9b7a1ad05efbb4e23f4c5c53d3da4491204b6553a85bc16aed +size 635653 diff --git a/Semantic/select_book_semantic/example86/input/input_mask.png b/Semantic/select_book_semantic/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..449e3fe5edc0f3e280046f76007088981649dd8a --- /dev/null +++ b/Semantic/select_book_semantic/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b524105fa200adc153eb94e672417076b269feea72d008406ea981d4c005231 +size 533562 diff --git a/Semantic/select_book_semantic/example86/input/instruction.txt b/Semantic/select_book_semantic/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2baf9909a84dfe5975933a5c0a149f6d3a675b44 --- /dev/null +++ b/Semantic/select_book_semantic/example86/input/instruction.txt @@ -0,0 +1 @@ + I need to review the chapter on cell signaling for my research project. Could you please bring me my molecular biology textbook?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example86/output/operation_sequence.json b/Semantic/select_book_semantic/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example86/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example87/env_config/env_config.json b/Semantic/select_book_semantic/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..27eff7a295d1e04bbfe0e7780b9fad4c81dd1ef4 --- /dev/null +++ b/Semantic/select_book_semantic/example87/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.9427509733087807e-10, + 8.614230106167227e-10, + -1.2354978266967647e-06 + ], + "orientation": [ + 0.9999999999999578, + -2.873741964699565e-07, + -1.2400552001131222e-08, + -6.408195136137085e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.018950395474900874, + 0.3337457298810739, + 0.7599985222664486 + ], + "orientation": [ + 0.9982771648699572, + -2.656399885287522e-07, + -3.046793633108719e-08, + -0.058674543876619 + ], + "class": "Shelf" + }, + { + "name": "the_life_of_samuel_johnson", + "xml_path": "obj/meshes/books/bookscan/the_life_of_samuel_johnson/the_life_of_samuel_johnson.xml", + "position": [ + -0.28034587074631834, + 0.3303274517262921, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.090791000034315, + 0.3378353282507497, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + 0.03961403698702984, + 0.321754814351243, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "mobile_computing_principles", + "xml_path": "obj/meshes/books/bookscan/mobile_computing_principles/mobile_computing_principles.xml", + "position": [ + 0.1089680087603976, + 0.31361323320496093, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "the_life_of_samuel_johnson" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example87/input/input.png b/Semantic/select_book_semantic/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7d203a406788569b6c433b7b1b103ec15930f6a9 --- /dev/null +++ b/Semantic/select_book_semantic/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ca2a51762051284a353fe6199de57226cd41ce969aa84b31c4d9fc45d24dd85 +size 680327 diff --git a/Semantic/select_book_semantic/example87/input/input_mask.png b/Semantic/select_book_semantic/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e1555b9a8bf831cde8ede6d0bd4d95de65129873 --- /dev/null +++ b/Semantic/select_book_semantic/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:788b3ef2e5ce70eb1698c66b161c3749ba2108351afd44cad1ead2e7fb2756bd +size 560854 diff --git a/Semantic/select_book_semantic/example87/input/instruction.txt b/Semantic/select_book_semantic/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4494075f58a615315429a2870f80fe00178c2d01 --- /dev/null +++ b/Semantic/select_book_semantic/example87/input/instruction.txt @@ -0,0 +1 @@ + We were just discussing Dr. Johnsons wit. Can you fetch his biography from the shelf? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example87/output/operation_sequence.json b/Semantic/select_book_semantic/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example87/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example88/env_config/env_config.json b/Semantic/select_book_semantic/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6092e88b5826408abc64cc9caa23ff5729f9efaa --- /dev/null +++ b/Semantic/select_book_semantic/example88/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.0220855574230145e-10, + 9.482221413246905e-10, + -1.2354745395138995e-06 + ], + "orientation": [ + 0.9999999999999636, + -2.529607803788805e-07, + -8.321674759335163e-08, + -1.517092207148188e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.10777461613742235, + 0.29038584168794307, + 0.7599985497327899 + ], + "orientation": [ + 0.9986231476205348, + -2.2772405150719476e-07, + -9.747898821187643e-08, + -0.05245768805802913 + ], + "class": "Shelf" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + -0.25518166277130544, + 0.2832322101826522, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "python", + "xml_path": "obj/meshes/books/bookscan/python/python.xml", + "position": [ + -0.17631796183685813, + 0.2722931995586442, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cloud_computing", + "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", + "position": [ + -0.0028662088090672493, + 0.27528578798499154, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + 0.09142850914339026, + 0.25629530397722006, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "engineering_biopolymers" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example88/input/input.png b/Semantic/select_book_semantic/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..618d55f5d7e73a6cee4693fdfcf75aec369635a1 --- /dev/null +++ b/Semantic/select_book_semantic/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5165865055ea0a6533035fa3cf0acf6b2504bcdf4485275eeac1a06404869d55 +size 663726 diff --git a/Semantic/select_book_semantic/example88/input/input_mask.png b/Semantic/select_book_semantic/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bde707bfae8d18378c55d95d81c31ef4ebf61a0d --- /dev/null +++ b/Semantic/select_book_semantic/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c1ae2e07adf09e6929938d1963959bb666ea2e97130b84426ca0d7c8f7f133b +size 542034 diff --git a/Semantic/select_book_semantic/example88/input/instruction.txt b/Semantic/select_book_semantic/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5eaa66060b6f961930ccea34665848f9f0bcdf5b --- /dev/null +++ b/Semantic/select_book_semantic/example88/input/instruction.txt @@ -0,0 +1 @@ + Im trying to learn more about biodegradable plastics. Please bring me the book on engineering_biopolymers. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example88/output/operation_sequence.json b/Semantic/select_book_semantic/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example88/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example89/env_config/env_config.json b/Semantic/select_book_semantic/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b44a1dec6d636e2d086b3b7ca69c9612e8c1f9be --- /dev/null +++ b/Semantic/select_book_semantic/example89/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.195222913440479e-10, + 9.61854411611532e-10, + -1.2354663441969614e-06 + ], + "orientation": [ + 0.9999999999999661, + -2.5424021027307813e-07, + -4.431339210203844e-08, + -1.1880611449516249e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.051870408846523164, + 0.2921252965871319, + 0.7599985614547495 + ], + "orientation": [ + 0.9975457373435334, + -2.3621750255620958e-07, + -2.4981678231822004e-08, + 0.0700178684886219 + ], + "class": "Shelf" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + -0.2728213656387654, + 0.2787717603020024, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "government_and_information_rights", + "xml_path": "obj/meshes/books/bookscan/government_and_information_rights/government_and_information_rights.xml", + "position": [ + -0.14285537232097495, + 0.2927138383058542, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "introduction_to_electronics", + "xml_path": "obj/meshes/books/bookscan/introduction_to_electronics/introduction_to_electronics.xml", + "position": [ + 0.015465370673877089, + 0.2829454783364411, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + 0.21839844643075917, + 0.29439520216874093, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "biopolymer_composites_in_electronics" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example89/input/input.png b/Semantic/select_book_semantic/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..982774e8515c34a9f2099135d5c05bf1f3d4a188 --- /dev/null +++ b/Semantic/select_book_semantic/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86eaca4e03dbfeee56f4e0c9ae175152c56ac6f19cd9cf6a5f5e004a7efa26c4 +size 676481 diff --git a/Semantic/select_book_semantic/example89/input/input_mask.png b/Semantic/select_book_semantic/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a1aee1a1ea735a34642cc205bef0ab47d5c1311f --- /dev/null +++ b/Semantic/select_book_semantic/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39120b9cc9660148ef61e10c16cb536fcfae9f189d1228b9cbae396952c7305f +size 550672 diff --git a/Semantic/select_book_semantic/example89/input/instruction.txt b/Semantic/select_book_semantic/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a17f365d41081a115f746894109693932677a54 --- /dev/null +++ b/Semantic/select_book_semantic/example89/input/instruction.txt @@ -0,0 +1 @@ + I heard using biopolymers can reduce electronic waste. I’d like to read more about it. Please fetch the book on biopolymer composites in electronics. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example89/output/operation_sequence.json b/Semantic/select_book_semantic/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example89/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example9/env_config/env_config.json b/Semantic/select_book_semantic/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..de19b21f6a16922a50bae102c039bd526b5e2842 --- /dev/null +++ b/Semantic/select_book_semantic/example9/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.329663810822953e-10, + 1.0119788897950663e-09, + -1.2354433647839854e-06 + ], + "orientation": [ + 0.9999999999999704, + -2.39380844886582e-07, + 3.6802323078025705e-08, + 9.100556420315844e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.0497899574336205, + 0.2733619908619557, + 0.7599985800769237 + ], + "orientation": [ + 0.9981158015972519, + -2.1615638594486863e-07, + 5.267350227663051e-08, + 0.061358345820470284 + ], + "class": "Shelf" + }, + { + "name": "cotton_the_fabric_that_made_the_modern_world", + "xml_path": "obj/meshes/books/bookscan/cotton_the_fabric_that_made_the_modern_world/cotton_the_fabric_that_made_the_modern_world.xml", + "position": [ + -0.19968924875839025, + 0.2705575646294666, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + 0.018555200084512058, + 0.28858666601397204, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cybersecurity", + "xml_path": "obj/meshes/books/bookscan/cybersecurity/cybersecurity.xml", + "position": [ + 0.1281714245444344, + 0.25613040036762785, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "cotton_the_fabric_that_made_the_modern_world" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example9/input/input.png b/Semantic/select_book_semantic/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..90d6bfbaf3c2d7a5826484a82efe30a681022ab4 --- /dev/null +++ b/Semantic/select_book_semantic/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03974868c5a7d685e0b58c26b0b3b0f703966167c450b8339a6799b5d0c5770a +size 641565 diff --git a/Semantic/select_book_semantic/example9/input/input_mask.png b/Semantic/select_book_semantic/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a71584ad1ba2a58da14e97654884c3732ac2ebc6 --- /dev/null +++ b/Semantic/select_book_semantic/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7b5ff4be55195f1bfcc70834fe1730c238d9e5128b44c6cd774d82987dc41f0 +size 527964 diff --git a/Semantic/select_book_semantic/example9/input/instruction.txt b/Semantic/select_book_semantic/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9e77aad8a4e3e47d2526896cb4a54b7ff828b255 --- /dev/null +++ b/Semantic/select_book_semantic/example9/input/instruction.txt @@ -0,0 +1 @@ +** Were debating the pros and cons of different fabrics. I need the book on the history of cotton to make my point. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example9/output/operation_sequence.json b/Semantic/select_book_semantic/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example9/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example90/env_config/env_config.json b/Semantic/select_book_semantic/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d44b67c5515db59a9d81515e60289a87508b72 --- /dev/null +++ b/Semantic/select_book_semantic/example90/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.696034509588816e-11, + 8.588880267788226e-10, + -1.2355034591505754e-06 + ], + "orientation": [ + 0.9999999999999567, + -2.8536600203882484e-07, + 6.498394545281245e-08, + 4.3523000309720405e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.07853378707612724, + 0.33120745773711724, + 0.7599985153123346 + ], + "orientation": [ + 0.9983276269608927, + -2.6813312052458846e-07, + 4.7177722464747197e-08, + -0.05780959476208882 + ], + "class": "Shelf" + }, + { + "name": "wi-foo", + "xml_path": "obj/meshes/books/bookscan/wi-foo/wi-foo.xml", + "position": [ + -0.18025307954806008, + 0.3412252043355885, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + -0.005544043614939254, + 0.35137044758858743, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy", + "xml_path": "obj/meshes/books/bookscan/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy/the_great_divergence_china_europe_and_the_making_of_the_modern_world_economy.xml", + "position": [ + 0.1714642973405722, + 0.3586955932058744, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + 0.347327755315643, + 0.35041376858157736, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example90/input/input.png b/Semantic/select_book_semantic/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ff4720ce58ea8c08835b1f1e0bcbc90f695355e4 --- /dev/null +++ b/Semantic/select_book_semantic/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6624b3ed9f041ffb51e8161048c1db5da64a671bde363496bbe25f100f87dc40 +size 687986 diff --git a/Semantic/select_book_semantic/example90/input/input_mask.png b/Semantic/select_book_semantic/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a217b49373289dade6a6a47c2b010296c5076b71 --- /dev/null +++ b/Semantic/select_book_semantic/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366657c05db8e7a148f632a9974cde1a1ba959d693e6a31d8294a0d5690cb2d1 +size 572958 diff --git a/Semantic/select_book_semantic/example90/input/instruction.txt b/Semantic/select_book_semantic/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cd0d65bf62e8e4baddcf1ad7a2176cd8fc59422e --- /dev/null +++ b/Semantic/select_book_semantic/example90/input/instruction.txt @@ -0,0 +1 @@ + Im in the mood for some magical realism. Could you please bring me my copy of One Hundred Years of Solitude by Gabriel García Márquez? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example90/output/operation_sequence.json b/Semantic/select_book_semantic/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example90/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example91/env_config/env_config.json b/Semantic/select_book_semantic/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9eab77a36dd53ed8e4c55021b184a5bc3a6181a6 --- /dev/null +++ b/Semantic/select_book_semantic/example91/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.5952121677008402e-10, + 8.743006613363072e-10, + -1.2354983684570942e-06 + ], + "orientation": [ + 0.9999999999999581, + -2.841063097715711e-07, + 4.821400602452945e-08, + 8.4343925150706e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.06196720720080852, + 0.3294604733294928, + 0.7599985213766762 + ], + "orientation": [ + 0.9997429840625082, + -2.623968108843781e-07, + 5.509888961150102e-08, + 0.022670814227066467 + ], + "class": "Shelf" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + -0.1665777833096597, + 0.3483092114402541, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "government_and_information_rights", + "xml_path": "obj/meshes/books/bookscan/government_and_information_rights/government_and_information_rights.xml", + "position": [ + 0.011910564022296403, + 0.349920808053019, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "mobile_computing_principles", + "xml_path": "obj/meshes/books/bookscan/mobile_computing_principles/mobile_computing_principles.xml", + "position": [ + 0.11521025003063094, + 0.32828109003886585, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + 0.24045638264172386, + 0.3379404930809545, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "engineering_biopolymers" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example91/input/input.png b/Semantic/select_book_semantic/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3b15fb73bbbb767a994fa6017ca8c79371acee6e --- /dev/null +++ b/Semantic/select_book_semantic/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e1df40d5c765d2e819dc23a2cd8fe38cd8858cbc58a08cd0e821952ce4e626b +size 670659 diff --git a/Semantic/select_book_semantic/example91/input/input_mask.png b/Semantic/select_book_semantic/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5f5e606b8874a46e2d9a8655a1702b7bf9044123 --- /dev/null +++ b/Semantic/select_book_semantic/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50b5af6970cf3305890cb41952639b1745442ee7f3ec675bcda7c1989d302ea5 +size 558201 diff --git a/Semantic/select_book_semantic/example91/input/instruction.txt b/Semantic/select_book_semantic/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7a9144db2f6110cf9429b50f3e0eba3e3c8db7b7 --- /dev/null +++ b/Semantic/select_book_semantic/example91/input/instruction.txt @@ -0,0 +1 @@ + Im working on my biomaterials project and need to check something in my textbook. Can you grab Engineering Biopolymers for me?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example91/output/operation_sequence.json b/Semantic/select_book_semantic/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example91/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example92/env_config/env_config.json b/Semantic/select_book_semantic/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cd8bee4f73f53262fec7187d569082a5f8f9969c --- /dev/null +++ b/Semantic/select_book_semantic/example92/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.46176701229855e-09, + 7.094764121335785e-09, + -1.2350597059219489e-06 + ], + "orientation": [ + 0.9999999999999611, + -2.683633892804548e-07, + -6.932518211224725e-08, + -2.908220411482735e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.08317539135373413, + 0.310368854087492, + 0.7599985368687194 + ], + "orientation": [ + 0.9971563481195376, + -2.5236917593761343e-07, + -4.7378975065168034e-08, + 0.0753605825670294 + ], + "class": "Shelf" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + -0.34443529894158476, + 0.32382244078520955, + 1.170975992820399 + ], + "orientation": [ + 3.6857908741977674e-05, + 0.7015989633854237, + 0.7125720246062208, + -5.4466384465170586e-05 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + -0.16933522281034807, + 0.3437361520917461, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.0004406594431115886, + 0.3230674969047846, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + 0.19717730552989138, + 0.31787334576231574, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example92/input/input.png b/Semantic/select_book_semantic/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..198aed9cc4fe7e03ff167e3db4df13d6bbd559ad --- /dev/null +++ b/Semantic/select_book_semantic/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9ecb3009938397440b908177a9b22ab650ea30d418e0296589fb1375cb1b32f +size 664787 diff --git a/Semantic/select_book_semantic/example92/input/input_mask.png b/Semantic/select_book_semantic/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e247bf893a5bea7849c29a70dd7d4fcf83ed64f3 --- /dev/null +++ b/Semantic/select_book_semantic/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf9eda3c571f2a33b7ef9d751111d54c90feac6c664d2775fb20e685025d078 +size 545309 diff --git a/Semantic/select_book_semantic/example92/input/instruction.txt b/Semantic/select_book_semantic/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cfc7aa74c3cb07a4d53a65b2a8bc390d64c331e7 --- /dev/null +++ b/Semantic/select_book_semantic/example92/input/instruction.txt @@ -0,0 +1 @@ + Im researching the differences between US and Japanese contract law. Can you grab the Japanese contract law book for me please?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example92/output/operation_sequence.json b/Semantic/select_book_semantic/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example92/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example93/env_config/env_config.json b/Semantic/select_book_semantic/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6c333c4e422c88799a7acb00fd666ccc4f8893d5 --- /dev/null +++ b/Semantic/select_book_semantic/example93/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.316084324502401e-10, + 9.184395712810473e-10, + -1.2354830359906167e-06 + ], + "orientation": [ + 0.9999999999999624, + -2.7236899032909156e-07, + -3.03872499911243e-08, + -6.16667007990524e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.03973024269300658, + 0.3147041254599038, + 0.7599985407270966 + ], + "orientation": [ + 0.9996737671633386, + -2.5096175352085355e-07, + -3.788030231287609e-08, + -0.02554132426862479 + ], + "class": "Shelf" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + -0.2776438959474048, + 0.32247623387904883, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + -0.12103163224869842, + 0.3016701303947899, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "introduction_to_electronics", + "xml_path": "obj/meshes/books/bookscan/introduction_to_electronics/introduction_to_electronics.xml", + "position": [ + 0.0013685726707167653, + 0.3148769439812473, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + 0.23659392434634913, + 0.3172646142436289, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "data_visualization" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example93/input/input.png b/Semantic/select_book_semantic/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cb75e31727aa097e7e57d0e7ba8d6609bd1c8c71 --- /dev/null +++ b/Semantic/select_book_semantic/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2deb10a7bdfd1be96f14c80f33ec8d48d466e9ef9e5d0b2d731feb01ccb2fd7c +size 681727 diff --git a/Semantic/select_book_semantic/example93/input/input_mask.png b/Semantic/select_book_semantic/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2b3286ef768ab8dcafe8a9459e55f42487943925 --- /dev/null +++ b/Semantic/select_book_semantic/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4096897f5d76a12e29eb237dcefcabe0d48aeb0d16aa9c3b821321fcd639960 +size 562644 diff --git a/Semantic/select_book_semantic/example93/input/instruction.txt b/Semantic/select_book_semantic/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..119bd0ac218ceae11bfd92e92247edb8cf090893 --- /dev/null +++ b/Semantic/select_book_semantic/example93/input/instruction.txt @@ -0,0 +1 @@ + Im trying to explain statistical concepts to my students visually. Could you get the data visualization book for me? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example93/output/operation_sequence.json b/Semantic/select_book_semantic/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example93/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example94/env_config/env_config.json b/Semantic/select_book_semantic/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..be08cbdbe891f93283dec1b9b2d25493cf5f1a3e --- /dev/null +++ b/Semantic/select_book_semantic/example94/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.0643700697327926e-12, + 1.0147823417352038e-09, + -1.2354502943446003e-06 + ], + "orientation": [ + 0.9999999999999705, + -2.4152960759002994e-07, + 1.4897763784148415e-08, + 1.4255745709229576e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.018220328307152436, + 0.27586027297352894, + 0.7599985808102941 + ], + "orientation": [ + 0.999958160168514, + -2.2110435867866442e-07, + 1.2484567746303326e-08, + -0.009147563191931392 + ], + "class": "Shelf" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + -0.19157654954616044, + 0.28801675138135946, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "scholars_of_contract_law", + "xml_path": "obj/meshes/books/bookscan/scholars_of_contract_law/scholars_of_contract_law.xml", + "position": [ + -0.06434799653330252, + 0.2552133109689087, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_story_of_american_freedom", + "xml_path": "obj/meshes/books/bookscan/the_story_of_american_freedom/the_story_of_american_freedom.xml", + "position": [ + 0.07060200404180265, + 0.2630648989644927, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "contract_law_in_japan", + "xml_path": "obj/meshes/books/bookscan/contract_law_in_japan/contract_law_in_japan.xml", + "position": [ + 0.15914049395585408, + 0.266078542788813, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "contract_law_in_japan" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example94/input/input.png b/Semantic/select_book_semantic/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a81171ce04aa6bece946a98288d485f63d74596d --- /dev/null +++ b/Semantic/select_book_semantic/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8df9751e446da753c0e4e49141f84e8786f78be502a45590b7c1bdbec8628f9 +size 665982 diff --git a/Semantic/select_book_semantic/example94/input/input_mask.png b/Semantic/select_book_semantic/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..296279b396c90c972a8e810329dfa07dcc600c2e --- /dev/null +++ b/Semantic/select_book_semantic/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76cd3220f8925029fbed7056e913a78b65d448f3825d604829b5c341841ab038 +size 540548 diff --git a/Semantic/select_book_semantic/example94/input/instruction.txt b/Semantic/select_book_semantic/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5edc41f8f53e5c8a2c7b5cc94f78e58af1452ac --- /dev/null +++ b/Semantic/select_book_semantic/example94/input/instruction.txt @@ -0,0 +1 @@ + I have a question about contract enforcement in Japan. Could you fetch the book on Japanese contract law, please?` \ No newline at end of file diff --git a/Semantic/select_book_semantic/example94/output/operation_sequence.json b/Semantic/select_book_semantic/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..e0525b97330c9984c9db380345f058bcc7763cf0 --- /dev/null +++ b/Semantic/select_book_semantic/example94/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example95/env_config/env_config.json b/Semantic/select_book_semantic/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..83a15f70d7bdfb41872bc3d19abf875a1d2efb3b --- /dev/null +++ b/Semantic/select_book_semantic/example95/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.252467804860354e-11, + 1.0138354223711434e-09, + -1.235451962678232e-06 + ], + "orientation": [ + 0.9999999999999677, + -2.3835267007260143e-07, + 7.81495785102338e-08, + 9.18501862562216e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + 0.09701219725700819, + 0.27188644836120024, + 0.7599985698345664 + ], + "orientation": [ + 0.9997036188912124, + -2.196383544449315e-07, + 7.181478212756817e-08, + -0.024344904513258075 + ], + "class": "Shelf" + }, + { + "name": "one_hundred_years_of_solitude", + "xml_path": "obj/meshes/books/bookscan/one_hundred_years_of_solitude/one_hundred_years_of_solitude.xml", + "position": [ + -0.18142187422021494, + 0.2808853311819046, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + 0.060064885732009805, + 0.27574097318198454, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + 0.1796938159172067, + 0.2756211510587281, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "one_hundred_years_of_solitude" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example95/input/input.png b/Semantic/select_book_semantic/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..42a8aa528260c9d2ff40367284b5564de0073175 --- /dev/null +++ b/Semantic/select_book_semantic/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc9ea9ba87656d21ff636402fe536179b0a07954b2758100add8252fc4f50772 +size 658805 diff --git a/Semantic/select_book_semantic/example95/input/input_mask.png b/Semantic/select_book_semantic/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9a617c4b0267f92ec722b09399208e71ad8db877 --- /dev/null +++ b/Semantic/select_book_semantic/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c207e88a4d918ef5f4b417f7c6657335c9943c25912d909be643384637a9fd6 +size 549722 diff --git a/Semantic/select_book_semantic/example95/input/instruction.txt b/Semantic/select_book_semantic/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db98eb9dc381c96c810a6204add91e151c72f850 --- /dev/null +++ b/Semantic/select_book_semantic/example95/input/instruction.txt @@ -0,0 +1 @@ +** I need a long, engrossing book to take on my trip. Please pass me *One Hundred Years of Solitude*. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example95/output/operation_sequence.json b/Semantic/select_book_semantic/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..5298e4f95c4c3294066ec09ad76c4edb6d047083 --- /dev/null +++ b/Semantic/select_book_semantic/example95/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example96/env_config/env_config.json b/Semantic/select_book_semantic/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..339ce2dc3eaaafc61dea47bfd509def8df930e1e --- /dev/null +++ b/Semantic/select_book_semantic/example96/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.900090418260256e-11, + 8.798872180692637e-10, + -1.2354935088085809e-06 + ], + "orientation": [ + 0.9999999999999575, + -2.867456845223193e-07, + -4.1287874645129553e-08, + -5.123496371097959e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.05155852525244291, + 0.33276439685837544, + 0.7599985194652762 + ], + "orientation": [ + 0.9999682344859001, + -2.66518470913593e-07, + -3.885780184682453e-08, + 0.007970572067210375 + ], + "class": "Shelf" + }, + { + "name": "biopolymer_composites_in_electronics", + "xml_path": "obj/meshes/books/bookscan/biopolymer_composites_in_electronics/biopolymer_composites_in_electronics.xml", + "position": [ + -0.3174263263059148, + 0.330945404074271, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "foundamentals_of_molecular_biology", + "xml_path": "obj/meshes/books/bookscan/foundamentals_of_molecular_biology/foundamentals_of_molecular_biology.xml", + "position": [ + -0.14713008032701155, + 0.3412038786386963, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "engineering_biopolymers", + "xml_path": "obj/meshes/books/bookscan/engineering_biopolymers/engineering_biopolymers.xml", + "position": [ + 0.026598892921599178, + 0.3549325075154151, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "foundamentals_of_molecular_biology" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example96/input/input.png b/Semantic/select_book_semantic/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e95bca2444be6a2d0243527ea22faf2db3fbc218 --- /dev/null +++ b/Semantic/select_book_semantic/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:576213714990aebf4a870e1cd995cf74285ab56fa44a470ec3c1eadf3cd8e935 +size 659352 diff --git a/Semantic/select_book_semantic/example96/input/input_mask.png b/Semantic/select_book_semantic/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ff24f1abb5923df6633e711f9f657b148d8d189c --- /dev/null +++ b/Semantic/select_book_semantic/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c760ecd626659755fda646841b63e3bce9be356fc939533d79bc4ca64dcfd18 +size 550964 diff --git a/Semantic/select_book_semantic/example96/input/instruction.txt b/Semantic/select_book_semantic/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..db2ffe2eb6d8f74409158eaafd7544920d9fc92e --- /dev/null +++ b/Semantic/select_book_semantic/example96/input/instruction.txt @@ -0,0 +1 @@ + I’m writing my thesis on protein synthesis. I need the molecular biology book to reference some information. \ No newline at end of file diff --git a/Semantic/select_book_semantic/example96/output/operation_sequence.json b/Semantic/select_book_semantic/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..05eef04c5ee450fae61e2bd4503c8cccc0f6c097 --- /dev/null +++ b/Semantic/select_book_semantic/example96/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example97/env_config/env_config.json b/Semantic/select_book_semantic/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..83ef20c6cb7b3ba9d8cee5ad19bf624beefb8d31 --- /dev/null +++ b/Semantic/select_book_semantic/example97/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.0294836900990108e-10, + 8.812525123328724e-10, + -1.2354902032148537e-06 + ], + "orientation": [ + 0.9999999999999589, + -2.8664949479016104e-07, + -6.289283072553967e-09, + 2.3064062862387996e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.005659224540898091, + 0.3327336554258345, + 0.7599985237369485 + ], + "orientation": [ + 0.9991847426758326, + -2.6613814560195177e-07, + 6.103362333256734e-09, + 0.04037140081492975 + ], + "class": "Shelf" + }, + { + "name": "introduction_to_electronics", + "xml_path": "obj/meshes/books/bookscan/introduction_to_electronics/introduction_to_electronics.xml", + "position": [ + -0.2012818558841004, + 0.34024453176044683, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "cloud_computing", + "xml_path": "obj/meshes/books/bookscan/cloud_computing/cloud_computing.xml", + "position": [ + -0.08872871132610756, + 0.34829401279282524, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "data_visualization", + "xml_path": "obj/meshes/books/bookscan/data_visualization/data_visualization.xml", + "position": [ + 0.08732035503987629, + 0.35883336165270474, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "data_visualization" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example97/input/input.png b/Semantic/select_book_semantic/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ce8b35b92394a4e101dc5e41e847ec02b58914ab --- /dev/null +++ b/Semantic/select_book_semantic/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad74c4c861cbc154057458e4edbb21534deebb1a09bbd8d0450de769d6eac0f3 +size 647653 diff --git a/Semantic/select_book_semantic/example97/input/input_mask.png b/Semantic/select_book_semantic/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d4b9f1f51018288f593453b8c6386dfb45d63d4e --- /dev/null +++ b/Semantic/select_book_semantic/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2392c76e5b1caff4b54eee6a15904f88a63b4457adc2fe8d6a1b13405bf38d63 +size 539189 diff --git a/Semantic/select_book_semantic/example97/input/instruction.txt b/Semantic/select_book_semantic/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc32a871b60466317c1054ab1b5b9564b66d7be2 --- /dev/null +++ b/Semantic/select_book_semantic/example97/input/instruction.txt @@ -0,0 +1 @@ +** Im trying to understand these trends better. Can you grab the data visualization book off the shelf? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example97/output/operation_sequence.json b/Semantic/select_book_semantic/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example97/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example98/env_config/env_config.json b/Semantic/select_book_semantic/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..93f1f3ef86ce41d78e12545c03789c55d9d40db8 --- /dev/null +++ b/Semantic/select_book_semantic/example98/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2599769005850943e-10, + 1.047080147644414e-09, + -1.2354316255514613e-06 + ], + "orientation": [ + 0.9999999999999731, + -2.296278723599943e-07, + -1.0912797361502554e-08, + 1.71435429566724e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.010880242687469085, + 0.26102378729620096, + 0.759998594516108 + ], + "orientation": [ + 0.9986968410583351, + -2.093579206380445e-07, + 1.8546803356118084e-09, + 0.05103547452564998 + ], + "class": "Shelf" + }, + { + "name": "the_autobiography_of_benjamin_franklin", + "xml_path": "obj/meshes/books/bookscan/the_autobiography_of_benjamin_franklin/the_autobiography_of_benjamin_franklin.xml", + "position": [ + -0.2388183823883827, + 0.2752034101034595, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "steve_jobs", + "xml_path": "obj/meshes/books/bookscan/steve_jobs/steve_jobs.xml", + "position": [ + -0.059697250740065856, + 0.25001561492163726, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "the_life_of_samuel_johnson", + "xml_path": "obj/meshes/books/bookscan/the_life_of_samuel_johnson/the_life_of_samuel_johnson.xml", + "position": [ + 0.07472866919986604, + 0.2467695745031797, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "the_life_of_samuel_johnson" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example98/input/input.png b/Semantic/select_book_semantic/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..24e51d880a3e40ee799bf4b2ffa412d96904115a --- /dev/null +++ b/Semantic/select_book_semantic/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2b5de106b0ff58874d78b85cb136d4338c146cf0566b5a511a63a953fcb32ff +size 651973 diff --git a/Semantic/select_book_semantic/example98/input/input_mask.png b/Semantic/select_book_semantic/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..38baa5baa53caa456585dedd358878fc634f5395 --- /dev/null +++ b/Semantic/select_book_semantic/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2b5298e2639440fea3b55d1b18a5f6f18c8c9f268e2d94052ee1aa8563ee2cb +size 540214 diff --git a/Semantic/select_book_semantic/example98/input/instruction.txt b/Semantic/select_book_semantic/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d4bd74ca93d4dd3d2cc72f151501f5120685e5f --- /dev/null +++ b/Semantic/select_book_semantic/example98/input/instruction.txt @@ -0,0 +1 @@ + Im fascinated by the 18th-century literary scene in London. Could you fetch Boswells biography of Johnson for me? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example98/output/operation_sequence.json b/Semantic/select_book_semantic/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example98/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example99/env_config/env_config.json b/Semantic/select_book_semantic/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6e8d0424ea6ec1665716cc1e22db07839ecfe58b --- /dev/null +++ b/Semantic/select_book_semantic/example99/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.1196846631111775e-10, + 9.357272978246616e-10, + -1.2354678450097718e-06 + ], + "orientation": [ + 0.9999999999999646, + -2.6610063744606493e-07, + -3.671032005703566e-09, + 5.132695753825885e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "shelf_seen", + "xml_path": "obj/meshes/containers/shelf/shelf1.xml", + "position": [ + -0.0003006796790397346, + 0.3071169076637839, + 0.7599985511390446 + ], + "orientation": [ + 0.9970315583512358, + -2.451033897673539e-07, + 1.8398189188188646e-08, + 0.0769939715279405 + ], + "class": "Shelf" + }, + { + "name": "the_adventures_of_huckleberry_finn", + "xml_path": "obj/meshes/books/bookscan/the_adventures_of_huckleberry_finn/the_adventures_of_huckleberry_finn.xml", + "position": [ + -0.28476548179703925, + 0.29604701934104494, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "scholars_of_contract_law", + "xml_path": "obj/meshes/books/bookscan/scholars_of_contract_law/scholars_of_contract_law.xml", + "position": [ + -0.06766972981969431, + 0.3132183907917705, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + }, + { + "name": "critical_infrastructure_protection_in_homeland_security", + "xml_path": "obj/meshes/books/bookscan/critical_infrastructure_protection_in_homeland_security/critical_infrastructure_protection_in_homeland_security.xml", + "position": [ + 0.07039183538835997, + 0.30901718803178824, + 1.170980999512366 + ], + "orientation": [ + 4.329780281177467e-17, + 0.7071067811865476, + 0.7071067811865475, + 4.329780281177466e-17 + ], + "class": "Book" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "shelf_seen", + "entities": [ + "critical_infrastructure_protection_in_homeland_security" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_book_semantic/example99/input/input.png b/Semantic/select_book_semantic/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5a48564ef6030896cad0d80e59957cb2be53e77d --- /dev/null +++ b/Semantic/select_book_semantic/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:098fe4fef8f474d76e3596a89004c4d025f2c698d69eddd6d2e0430bbca979a0 +size 652385 diff --git a/Semantic/select_book_semantic/example99/input/input_mask.png b/Semantic/select_book_semantic/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..adcfbd01e900b80b7a407e4c35a226b6494fb200 --- /dev/null +++ b/Semantic/select_book_semantic/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a6664cbd42d1a08ae92a104cc9edd5f51cbfdb253ab05cf9ec67bc6cc6751f6 +size 543838 diff --git a/Semantic/select_book_semantic/example99/input/instruction.txt b/Semantic/select_book_semantic/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..bcc5fdbe87813a112f7a5d89813ac20a3d65d970 --- /dev/null +++ b/Semantic/select_book_semantic/example99/input/instruction.txt @@ -0,0 +1 @@ + Im writing a paper on cybersecurity measures. Could you hand me the book on critical infrastructure protection in homeland security? \ No newline at end of file diff --git a/Semantic/select_book_semantic/example99/output/operation_sequence.json b/Semantic/select_book_semantic/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..8d9a6e9eccb2027fb35c66ffbfbaaa6c9cf73a73 --- /dev/null +++ b/Semantic/select_book_semantic/example99/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pull", + "params": {} + } + ] +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example0/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..56f09c9514ce631109057e66bb273e770a35b85a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example0/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.199927327846132e-10, + 6.949425979976615e-10, + -8.46377456321289e-07 + ], + "orientation": [ + 0.9999999999999996, + -7.86185041292676e-09, + 2.0328014637439524e-08, + 1.743813933421013e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.133025475410753, + 0.05116428364968251, + 0.7599988484693757 + ], + "orientation": [ + 0.9999999998174196, + 4.116197448810374e-08, + 7.2596771753269574e-09, + 1.9109145904852964e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2990343179045915, + 0.10112927825694625, + 0.7733996494413433 + ], + "orientation": [ + 0.9938129662182762, + 0.00289910997270447, + -0.0055294518165054695, + -0.11089097573926579 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.4054689293874549, + 0.13871686511942555, + 0.8960782674590837 + ], + "orientation": [ + 0.3134186514568915, + -0.17458358624462633, + 0.9325592435009757, + -0.040281232525798814 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.21303755512428363, + 0.10116621779017025, + 0.759215877500087 + ], + "orientation": [ + 0.9999995199483194, + -0.0006190699052137478, + 0.0007579725442964194, + 4.830326438634484e-05 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2130874618806122, + 0.15137908574723738, + 0.8582534868035716 + ], + "orientation": [ + 0.9999880800494803, + -0.00027873390774489805, + -0.0008268165401054687, + 0.004804002578365709 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example0/input/input.png b/Semantic/select_chemistry_tube_semantic/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..995bfe61b648d8e21e2511c11f6962e12d4de06d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03c0c23810a0a24f4b121a12dd42f9d34526ba424963ca40092fda8affff34ce +size 667481 diff --git a/Semantic/select_chemistry_tube_semantic/example0/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..939710990f7af5f4cd74900b1bfc074613359c2d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f32fe5e0a5244f88fd2883db580ba2af9a18af5614088f68c086cb40121ee1ff +size 587676 diff --git a/Semantic/select_chemistry_tube_semantic/example0/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..58da110a0257a560149a7f320c29f198f51a4648 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example0/input/instruction.txt @@ -0,0 +1 @@ + Im setting up an experiment to demonstrate the principles of electroplating. I need the CuSO4 solution for the electrolyte. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example0/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example1/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..03539b00151f2c20bae2fe0e472f4715db150562 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example1/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.5285300665608095e-10, + -8.236180707928138e-10, + -8.463713200971024e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.778213082700331e-08, + -5.7641131727655515e-09, + -5.907286899440405e-12 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.03727426617477712, + 0.1838459547010415, + 0.7599988236133517 + ], + "orientation": [ + 0.9999999999258338, + 9.771560559213594e-08, + 1.21759128595711e-08, + 1.2178830059497068e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.11774596280525533, + 0.13916391633128736, + 0.7703810339470104 + ], + "orientation": [ + 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{ + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example1/input/input.png b/Semantic/select_chemistry_tube_semantic/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..17815120ac6b1e1f91899f61dea022cb4b37ba56 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b5f1a446f9daf25b43e36f0128c8a2148e9bd9c1460a4789b3c9e8bb7506c2b +size 697607 diff --git a/Semantic/select_chemistry_tube_semantic/example1/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c2809632b2e53e60ccf52adc54fd0ca6995c36fc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5851cf480900d2270be9df38b12dbdd20026ac875e3763394f4cc4f16eccfb0 +size 611021 diff --git a/Semantic/select_chemistry_tube_semantic/example1/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f10d38740eaaa9484456954e9afd0d41c9ba2bf9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example1/input/instruction.txt @@ -0,0 +1 @@ + We are studying the effect of various metal salts on crystal growth. I need the CuCl2 solution for my experiment. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example1/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example10/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8e03c087b53d9116f534abf07cb016caff6d82e2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example10/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.1114504820682576e-10, + 3.360698077568363e-10, + -8.469374545276658e-07 + ], + "orientation": [ + 0.9999999999999994, + -2.476952360195515e-08, + -1.2973745499398419e-08, + 2.720778377535508e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.0826627942310954, + 0.1607893021059466, + 0.759998829810036 + ], + "orientation": [ + 0.9999999999294176, + 1.9457024348357193e-10, + -1.6520347776829348e-08, + -1.1881309232005149e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08262306368482236, + 0.21100528209386202, + 0.7612375458294299 + ], + "orientation": [ + 0.9992382008764885, + 0.0013077044313307784, + -0.005489867417060297, + -0.03861565969890557 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.08266962757967986, + 0.26079841549495664, + 0.8582162263190807 + ], + "orientation": [ + 0.9999997365126332, + -0.0007259275757010541, + -1.9497107735751648e-06, + -1.325491588849005e-07 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.08344279917904923, + 0.2107774052651718, + 0.7726500569467614 + ], + "orientation": [ + 0.994269888724427, + 0.003094533763036772, + -0.006797798236352849, + -0.10663771460343113 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27412883529913007, + 0.28742790646260075, + 0.8644115431312479 + ], + "orientation": [ + 0.4957298869671491, + -0.6325068550199655, + 0.30957063236139226, + -0.5082843506342283 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.25019073779641854, + 0.21016733583094027, + 0.7591050297133314 + ], + "orientation": [ + 0.9997487260068483, + -0.0037473753836581394, + -0.0008953208087148265, + -0.022082581961068645 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.30937134530633553, + 0.26934543612583467, + 0.8523846094624937 + ], + "orientation": [ + 0.5808185850306803, + 0.3251354467581003, + -0.43631470604190475, + -0.6054470991225704 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example10/input/input.png b/Semantic/select_chemistry_tube_semantic/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b7ab299b8d4a8f261f7150ec93de5a7ddeb472a8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82588915cefd360a0c730ed39457408e80a55cc3690c0cd5d803bccc157db3b4 +size 697069 diff --git a/Semantic/select_chemistry_tube_semantic/example10/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..664fd63b85422dfdc22f3e2a20a4b5bede2601a7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25f18d111941f2b967e27d42fac29db72385090ce12fa3de6e0fd5d06f099ac5 +size 615222 diff --git a/Semantic/select_chemistry_tube_semantic/example10/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d3c15e84b8faa459e1dd3d6d87a932c6dcc83722 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example10/input/instruction.txt @@ -0,0 +1 @@ + I want to observe the color changes in a copper sulfate solution upon the addition of different reagents. Ill need the CuSO4 for this. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example10/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example10/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/Semantic/select_chemistry_tube_semantic/example11/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3c39abf0e6ccaabcfc6fd2a9b32e1ef934b34699 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example11/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.394812190635688e-10, + 1.0083308018755891e-10, + -8.463973867761304e-07 + ], + "orientation": [ + 0.9999999999999984, + -3.043621394540915e-08, + -2.2257043340557374e-08, + 7.962902438998039e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.14547235813626802, + 0.1990112463009493, + 0.7599988276464257 + ], + "orientation": [ + 0.9999999997373827, + 1.191053573781821e-08, + -1.0376863863619383e-08, + 2.291798875116128e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.02053751639096249, + 0.2489735140309121, + 0.7734016899725695 + ], + "orientation": [ + 0.9938130200664868, + 0.002902074955437769, + -0.005550709681511204, + -0.11088935354357779 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.13412618671672133, + 0.2938160941032889, + 0.9911073786234356 + ], + "orientation": [ + -0.08929287762913375, + 0.1708081584046665, + 0.4282568833043248, + 0.8828631813194958 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.22337828783296745, + 0.24894878860450512, + 0.7591859115063195 + ], + "orientation": [ + 0.9983817934181654, + 0.0007917134382710362, + -0.051005468657851855, + -0.02513185086600965 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.22547134926432333, + 0.2990133618645505, + 0.858223496351966 + ], + "orientation": [ + 0.9999998258772003, + -0.0005589164478553363, + -0.00018808288430883943, + 2.197278759997157e-05 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example11/input/input.png b/Semantic/select_chemistry_tube_semantic/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..309665f664c54a375098a31a7e3f61d43e92375c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a44edf3f14e134de105047cc77b81b719d2aada3c221188811a2bc7964ad028 +size 707279 diff --git a/Semantic/select_chemistry_tube_semantic/example11/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..13615824fa6368abe179440911a4a73426a4d8e3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fcff4c825a1cda858e9e1ee6cdb1ff5dd5315c7a29466bf26ec8cfeeb0a5c12 +size 622896 diff --git a/Semantic/select_chemistry_tube_semantic/example11/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0d8583ed30cdb17c6940ba323a9ce9415eb4fbe2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example11/input/instruction.txt @@ -0,0 +1 @@ + Im preparing to perform a Friedel-Crafts alkylation. Please hand me the FeCl3.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example11/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example11/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/Semantic/select_chemistry_tube_semantic/example12/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb29c9da1e8d8cd33ffefe41913982f17ef492e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example12/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.602793148027702e-11, + -1.82966955417025e-10, + -8.464583403221764e-07 + ], + "orientation": [ + 0.9999999999999998, + -2.1757745148480578e-08, + -1.1829221844101933e-08, + 3.481258048968564e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.07722701534468714, + 0.14355300938597085, + 0.7599988366902415 + ], + "orientation": [ + 0.9999999999949553, + 4.7681269654047884e-08, + 2.5853856202599698e-08, + 3.175885846857977e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.15554248441928686, + 0.09681026023550406, + 0.7641719039865666 + ], + "orientation": [ + 0.9987002446311432, + 0.007121083257210082, + -0.04966623762797439, + 0.008965287882746585 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1354300504510137, + 0.12318549548512912, + 0.911739844068826 + ], + "orientation": [ + 0.5699012154489845, + 0.5072134516499366, + -0.5533299063313251, + 0.3343248926635482 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.07723775632244066, + 0.19377385706659234, + 0.7618524071456266 + ], + "orientation": [ + 0.9991518246717409, + 0.0013426464561923411, + -0.004477715898782315, + -0.040911839557190535 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.07722920653588607, + 0.24355775451764805, + 0.8581974406459055 + ], + "orientation": [ + 0.9999999999707975, + 7.047690242819814e-08, + -7.555616796646795e-06, + 1.145283390897297e-06 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example12/input/input.png b/Semantic/select_chemistry_tube_semantic/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..48ca2feed13fb703cc1cdd2ada97f154b8fa7ec1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3670fa63b54ef8e7309aef36543b49b4573a447c99e6bce4e3fadde665f606e9 +size 693697 diff --git a/Semantic/select_chemistry_tube_semantic/example12/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0b0927306a216957ddd3b77e35fa36b7168a23d0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9fa02546c8fee301a6b325aa0a564a1b968c2c3ae0c4145e05347e8483d1921 +size 612065 diff --git a/Semantic/select_chemistry_tube_semantic/example12/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..40dc0f53b24f08b01ec56b94cf7a7d94fed3a98c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example12/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution for a Fehlings test to check for aldehydes. Ill need the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example12/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example12/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/Semantic/select_chemistry_tube_semantic/example13/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0500e69bfaa1b609178cc8881b83e4a8aaa5cd7f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example13/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.160124778325739e-10, + 3.204869475407983e-10, + -8.470152029727413e-07 + ], + "orientation": [ + 0.9999999999999996, + -4.957954193244576e-09, + 2.071958065322222e-08, + 3.265594188898922e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.13379586256673207, + 0.031880405230405605, + 0.7599988387433235 + ], + "orientation": [ + 0.9999999999519356, + 8.518355932802594e-08, + 2.2267135949002367e-08, + -9.804161571858819e-06 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.13379919928424197, + 0.08210319966746149, + 0.7618563995442958 + ], + "orientation": [ + 0.9991517720720606, + 0.001344616111486811, + -0.004541950086732362, + -0.04090597831837448 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.13380584555553693, + 0.13188977455640852, + 0.8581993777933146 + ], + "orientation": [ + 0.9999999981231041, + 6.12027470553547e-05, + -2.6345890735069427e-06, + -1.0370111160513138e-06 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.29946475672580836, + -0.01739232192370595, + 0.7767175421194406 + ], + "orientation": [ + 0.9962291519350714, + 0.00698506180630114, + -0.01365416946180662, + -0.08539466846705386 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.4429072007708363, + 0.10293015028860615, + 1.2362777669425347 + ], + "orientation": [ + -0.5283091306192197, + -0.7154857541836361, + 0.36297061629606037, + -0.2778883404720245 + ], + "class": "NameTag", + "content": "I2" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2138064141995037, + 0.08188043644154104, + 0.7592158772935591 + ], + "orientation": [ + 0.9999995199463778, + -0.000619069880196268, + 0.0007579751156338584, + 4.830343103714575e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.21385679564797466, + 0.13207680304774339, + 0.8582184863745717 + ], + "orientation": [ + 0.9999906078643058, + -5.503238286023454e-05, + -0.00033581871571093284, + 0.0043206921208606966 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example13/input/input.png b/Semantic/select_chemistry_tube_semantic/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..486e926880b7d64dffe6e8fd3e9f3c1edc66fdf0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c0464432e91fee235a18114c2bd5b2ea7cb02eec2a043b13924e6840cd9f15d +size 708272 diff --git a/Semantic/select_chemistry_tube_semantic/example13/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..588d881491952637fc17b70dc2c7d52ec9c72887 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6824abdb26c0cfb56e948f0b19ea97c363f94e8eeb16d16a874418735f486264 +size 625070 diff --git a/Semantic/select_chemistry_tube_semantic/example13/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f3d664b81c00c781a0b2ac33630bbd2dd17fa92 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example13/input/instruction.txt @@ -0,0 +1 @@ + I need to perform a corrosion experiment on steel using an oxidizing agent. Please hand me the FeCl3.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example13/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example13/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/Semantic/select_chemistry_tube_semantic/example14/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..951add958737637cab966988bd5ea95c4a41933a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example14/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.6847378084151673e-10, + -5.3460707914278734e-11, + -8.465846857852867e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.0684766938610994e-08, + 1.7651105547121653e-08, + -7.176703685653954e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.11608866899368639, + 0.13600482386970056, + 0.7599988298467946 + ], + "orientation": [ + 0.9999999998390521, + 7.887101496111037e-08, + -1.634458546345336e-08, + -1.7941232850354605e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.051427314363208666, + 0.1853850788352482, + 0.7591074379847109 + ], + "orientation": [ + 0.9997489694954194, + -0.0037320549124878564, + -0.000962208055652495, + -0.022071336947175675 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.08764422402833691, + 0.2571967238418731, + 0.8843456079121634 + ], + "orientation": [ + 0.821920773634056, + 0.1372824704343825, + -0.4889303269330898, + 0.2579668594709975 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.19679383958156124, + 0.08793058933707767, + 0.7624919877015406 + ], + "orientation": [ + 0.992851119861788, + -0.010025482400925228, + -0.0026772121252501215, + -0.11890742629062084 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.22193416070037947, + 0.12158939195215472, + 0.8768258572003583 + ], + "orientation": [ + 0.019999081862683718, + 0.9170987402119108, + -0.24714528113411016, + 0.31216846003323057 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example14/input/input.png b/Semantic/select_chemistry_tube_semantic/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0d7a3d51f9ee00dcecd49c3114935037dc36c794 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ade08d0280712382eaf21507d34a2074f5b5c451ca24e92057adfd1814780632 +size 692945 diff --git a/Semantic/select_chemistry_tube_semantic/example14/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..798e7fedc02913b615472d364eb65e833ff44f5b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8dad4f2b04273b69bcf94b00324171f381e0f9c9599dee3bc98aff83d0031e4 +size 610252 diff --git a/Semantic/select_chemistry_tube_semantic/example14/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f9b57e3c07d3692ec6cb83aa55e1cb850f605df8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example14/input/instruction.txt @@ -0,0 +1 @@ + Im oxidizing an alcohol. Please provide me with the KMnO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example14/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example14/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/Semantic/select_chemistry_tube_semantic/example15/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc5da4b55dd33bf2752ba81da7f8c74e355f6a6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example15/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.877865728835094e-10, + -6.562431881981545e-11, + -8.470451565330327e-07 + ], + "orientation": [ + 0.9999999999999997, + -2.0374539492734257e-08, + 1.3230399402724106e-09, + 1.3831501941963407e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.008662830880777858, + 0.13227829364926913, + 0.7599988352008088 + ], + "orientation": [ + 0.9999999999128061, + 1.0305828311438479e-07, + -8.262798457656667e-09, + 1.3205187594269964e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.088679944719149, + 0.08227786244038915, + 0.7592158830907416 + ], + "orientation": [ + 0.9999995199442254, + -0.0006190710175049026, + 0.0007579770190712439, + 4.830355502236087e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.0626298243587464, + 0.15283742715477538, + 0.8583058514195495 + ], + "orientation": [ + 0.8534851018237145, + 0.002054952923636775, + 0.0016919794374484589, + 0.5211104444731739 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.008673967872205281, + 0.18250053378260173, + 0.7618592473507707 + ], + "orientation": [ + 0.9991495672861371, + 0.0013456630643472812, + -0.0045921114873992905, + -0.04095416822411341 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.008668457078036738, + 0.23228696570151114, + 0.8582168323361933 + ], + "orientation": [ + 0.999999719752699, + -0.0007484167363053485, + -1.8914312907186372e-06, + 1.9061359843007675e-05 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1746784725131189, + 0.18223996174615162, + 0.7735966060332395 + ], + "orientation": [ + 0.9935776367555448, + 0.0027138610150846806, + -0.00546374652214663, + -0.112987885065611 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2329919664306971, + 0.24775313827168505, + 0.8551503498829256 + ], + "orientation": [ + 0.9283674377850438, + 0.05851356706543228, + 0.337957783371491, + 0.14315935033500388 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example15/input/input.png b/Semantic/select_chemistry_tube_semantic/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..aad6494eda6adea968043f3018d6203c7a45760c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c4053691a5ebdc13eb04859bc4fdb3609093a99348599947a4457c0137a32d4 +size 686946 diff --git a/Semantic/select_chemistry_tube_semantic/example15/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bb90ceba4168106de4ebf0f17aa391b9bff4f6a7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f5aa6f01460184f06ae4326a51a80b7b9373f0290046702d10bfbd98781a5b2 +size 600287 diff --git a/Semantic/select_chemistry_tube_semantic/example15/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e7a4b57b1912fd6d1f56f3e91070cfa26540e17 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example15/input/instruction.txt @@ -0,0 +1 @@ + Im comparing the reactivity of different metal chlorides. Please hand me the CuCl2.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example15/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example16/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9c445ef2a8c30083de4507715a8c2729b20b39e8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example16/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.082718502278547e-10, + 1.698375115419832e-10, + -8.463125620458941e-07 + ], + "orientation": [ + 0.9999999999999986, + -2.370012673699697e-08, + -1.7046112892371523e-08, + 5.45489330621623e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.1110070928790286, + 0.1554721276976318, + 0.7599988326488073 + ], + "orientation": [ + 0.999999999736963, + 8.45798113780423e-08, + -9.705849607757005e-09, + 2.2936126372963497e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.05500263492551274, + 0.20543294088112385, + 0.7734013653305143 + ], + "orientation": [ + 0.9938126703372105, + 0.002901584003860622, + -0.005548374136756672, + -0.11089261757181851 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14169873478903278, + 0.25711233232033476, + 0.9407255691844895 + ], + "orientation": [ + 0.5016438959210984, + 0.6174538993567562, + 0.6056519594891874, + 0.017023155440376456 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.19002231196650926, + 0.10552753067489941, + 0.7598514532524612 + ], + "orientation": [ + 0.9984565492254137, + 0.0013732892313198632, + -0.04182044265929447, + -0.036519638023226095 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.15019377860590896, + 0.148846655779022, + 0.8604692395768416 + ], + "orientation": [ + 0.8300601601127131, + 0.014288581920540822, + -0.0012428420598577976, + 0.5574893921537611 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example16/input/input.png b/Semantic/select_chemistry_tube_semantic/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..269e197b403e522821b093f133e4913ebd2ed453 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52d35fa28bc65afe303285da37812cb2ac86b48138e9fac24e754259eee65d72 +size 735402 diff --git a/Semantic/select_chemistry_tube_semantic/example16/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..04713fc7f9b53d072ed4dcb1fa167906af7c7c97 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:795f90e5eaf50fa1714d273a221c9838b72506b3322c8c5be609eba11f1315f5 +size 651950 diff --git a/Semantic/select_chemistry_tube_semantic/example16/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..83380f67d9ab2ba1cdcd39e294e350baaa7b3bfc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example16/input/instruction.txt @@ -0,0 +1 @@ + I need to create a copper(II) chloride solution for an electrolysis experiment. Please provide the CuCl2. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example16/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example17/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..85bdb599b7c5fb30b1092128862ba0201212bb08 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example17/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.405777015062838e-10, + -3.4031609092018024e-10, + -8.468911454312262e-07 + ], + "orientation": [ + 0.9999999999999988, + -2.2449039608950803e-08, + 1.2781372175868901e-08, + -1.0747428459012216e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.0831005834696066, + 0.14808534130634785, + 0.7599988277532247 + ], + "orientation": [ + 0.9999999997295477, + 1.3621544103422675e-08, + 1.807264259330201e-08, + -2.3257343235391404e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.16308069956947577, + 0.0980838123801882, + 0.759215878636494 + ], + "orientation": [ + 0.9999995199427654, + -0.0006190773214346182, + 0.0007579738095342084, + 4.830333693420671e-05 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.13713586064864566, + 0.19016666261557008, + 0.9416236162580643 + ], + "orientation": [ + 0.041579533184979846, + -0.7663726065164751, + -0.17857246130517138, + 0.6156752768015589 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08287082606299631, + 0.19414112337334094, + 0.759369458361974 + ], + "orientation": [ + 0.9985386324010989, + 0.008960585539855738, + 0.003954135531975184, + -0.05314764643443265 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.13124169321737506, + 0.2348561026441132, + 0.9111319360040118 + ], + "orientation": [ + -0.48297292600967434, + 0.7065011322388578, + 0.0527174158537335, + -0.5146009880991009 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example17/input/input.png b/Semantic/select_chemistry_tube_semantic/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..41044e94191ab13742535662cf3e6b9038fdc2e5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14101df9f5fec39b4afd72b7356b672d40d9b561eec59dae7383059357789cd9 +size 687697 diff --git a/Semantic/select_chemistry_tube_semantic/example17/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..164089bf168a554118cfb5e48889a4057079444b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:791d86c1f6b58160a04b670b903ce3609e6e100587fd42ae00eef77fa577b7c0 +size 605214 diff --git a/Semantic/select_chemistry_tube_semantic/example17/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2997d8f2714257704b652bc52dfa70a58cefb5a8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example17/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a blood coagulation test. Please provide me with the FeCl3 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example17/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example18/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a447a0f3358c017e972eafd11c4136046636c585 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example18/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.3310150924587915e-11, + 5.646086369817425e-10, + -8.466557657002124e-07 + ], + "orientation": [ + 0.9999999999999994, + -4.653702630194049e-09, + 2.1446101413437137e-08, + 6.397143122560045e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.14091477316639592, + 0.02991153082574434, + 0.7599988491914694 + ], + "orientation": [ + 0.9999999999999879, + 5.309346835641353e-08, + 1.4946913205498865e-08, + 1.4489082971908723e-07 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.14090392482030478, + 0.08013605042471422, + 0.7618522673588357 + ], + "orientation": [ + 0.9991520589519399, + 0.0013426303518947924, + -0.00447553626719966, + -0.040906356608211854 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14091457985695105, + 0.12992096025555128, + 0.8581973927721867 + ], + "orientation": [ + 0.9999999999991085, + 2.776601192985402e-07, + -9.685040568788147e-07, + 8.765763656456566e-07 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.06299127681355286, + 0.07985125099566624, + 0.7591805714793403 + ], + "orientation": [ + 0.9983857702753343, + 0.00078180168476918, + -0.0509172353009911, + -0.025153084247409037 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.05988116933256451, + 0.13287381135571563, + 0.8582633561631445 + ], + "orientation": [ + 0.9985921752408544, + -0.0005974020756675875, + 0.0008435724907336477, + -0.05303394237610566 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example18/input/input.png b/Semantic/select_chemistry_tube_semantic/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ee5db08346ad87c22bb1d2484577588a54ce7880 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3f10e6ab326d990c5ec34454cdd85ec01e237afc67be2c8d5404594c79b7094 +size 668319 diff --git a/Semantic/select_chemistry_tube_semantic/example18/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2f2090fb943e64056eda6bc282855c1e1f384d8c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56c0ba0a475570ca22d230212004e6170576036640f180cbe918565c70e167d9 +size 586660 diff --git a/Semantic/select_chemistry_tube_semantic/example18/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..282372919bbce40fe80059719c4c3a1a9ec702bb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example18/input/instruction.txt @@ -0,0 +1 @@ + Im performing a Friedel-Crafts alkylation reaction. I need the FeCl3 to act as a Lewis acid catalyst. Please pass it to me. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example18/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example18/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/Semantic/select_chemistry_tube_semantic/example19/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a4ca406e195b826d80e31e8d8217e105b57847 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example19/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.7961247638549584e-10, + 3.90857421052775e-12, + -8.463489635891953e-07 + ], + "orientation": [ + 0.9999999999999991, + -1.0869011778295891e-08, + 8.086539263617624e-09, + -1.1656527448700663e-13 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.053747819452293955, + 0.07096831352049982, + 0.759998842572486 + ], + "orientation": [ + 0.9999999997397236, + 2.7190975059833928e-08, + 2.8821945804689996e-08, + 2.2815618666506948e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2197577097345725, + 0.12093075336904181, + 0.7734017666601551 + ], + "orientation": [ + 0.9938130686173055, + 0.002902128563428137, + -0.00555082816617694, + -0.11088891108639187 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14417460356049602, + 0.22990884261794417, + 0.99501701326754 + ], + "orientation": [ + -0.2656792498469729, + 0.7690874180282731, + 0.10993878021846173, + 0.5708174351186462 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.053755510427384315, + 0.12119074250169214, + 0.761858403162052 + ], + "orientation": [ + 0.9991491179073763, + 0.0013451683443709034, + -0.004579468930410301, + -0.040966561624729884 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.05374896963262158, + 0.17097358882563346, + 0.8582163184248761 + ], + "orientation": [ + 0.9999997345056054, + -0.0007283919513038165, + -8.123075537929734e-06, + 1.9180717961249523e-05 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example19/input/input.png b/Semantic/select_chemistry_tube_semantic/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..17ca7465668af46bb6896d862c08306a331b724e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a296f692d3771890f96a3051ea77b9cf3e41c6e87123166dad08a88e44e23357 +size 666617 diff --git a/Semantic/select_chemistry_tube_semantic/example19/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..761ae2f369256f13b7053245ee296054e950906e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20671fd74f6f0264a2439b34b4f47fd3b05628011ec6697ab76d40831036e7a3 +size 587316 diff --git a/Semantic/select_chemistry_tube_semantic/example19/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..989d15ff150948a4a93bb5ea7ac7cd7ca66b3728 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example19/input/instruction.txt @@ -0,0 +1 @@ + We are studying the impact of chloride ions on a specific reaction. Please provide the CuCl2 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example19/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example19/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/Semantic/select_chemistry_tube_semantic/example2/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..336893c09d8bbb311beca8b9710b5b20ce7521b2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example2/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.244598240527024e-10, + -1.5292164968759467e-10, + -8.465264248487421e-07 + ], + "orientation": [ + 0.9999999999999994, + -2.210405718310248e-08, + 1.4175507868181152e-08, + 6.8275440324403e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.09353658713493354, + 0.1456071185614662, + 0.7599988349143991 + ], + "orientation": [ + 0.9999999999948356, + 4.8748860292125104e-08, + 5.140999965390379e-08, + 3.2131167662657695e-06 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.014086328750408168, + 0.09811373562736492, + 0.7652880241114387 + ], + "orientation": [ + 0.9974199564541363, + 0.0026201961775095344, + -0.04664243988943341, + 0.054507319143210074 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.03447902527317721, + 0.12185718893226101, + 0.9118586146398999 + ], + "orientation": [ + 0.39559657342921534, + 0.5462134929583142, + -0.626510766650842, + 0.3906896856482316 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.09352563341486923, + 0.19582798225017303, + 0.7618523422369912 + ], + "orientation": [ + 0.99915183715681, + 0.0013426160234544344, + -0.004476634666213382, + -0.04091165396864854 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.09353442652359, + 0.24561184634389074, + 0.8581974327384818 + ], + "orientation": [ + 0.9999999999716428, + 5.1107266042737326e-08, + -7.438652089258486e-06, + 1.1737288971037696e-06 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example2/input/input.png b/Semantic/select_chemistry_tube_semantic/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1c5e018ff1c81283c84752be828d449b10754277 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc376dd710a51ac799e2da3ce3e93d5cd270d3e5881c6706d24378e08cac4066 +size 729987 diff --git a/Semantic/select_chemistry_tube_semantic/example2/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6018907fdc3d5206a282664fad823f71d2d4392d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b2a00a77815c4d5143b7aa45460c7f2f7050f3311a645f563dc6dfe7afc6a4d +size 646795 diff --git a/Semantic/select_chemistry_tube_semantic/example2/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..43c09624b92bd9464bea26613a0b6617152622f4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example2/input/instruction.txt @@ -0,0 +1 @@ + I’m setting up a demonstration on catalysis for our new interns. Help me by getting the KMnO4 which well use as a catalyst. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example2/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example2/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/Semantic/select_chemistry_tube_semantic/example20/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..79466726258ab85d5ce66f7dbe2a387a9d7fd1d1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example20/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.393853976274995e-10, + 5.686575663147951e-10, + -8.463485494025808e-07 + ], + "orientation": [ + 1.0, + -5.558973225419478e-10, + -4.351989545986307e-09, + 4.709364476454146e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.027733202341460424, + 0.003375710385424864, + 0.7599988534273298 + ], + "orientation": [ + 0.9999999998162572, + 5.063152382673943e-08, + -2.5749734514344627e-08, + 1.916981995933101e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.027727567354494758, + 0.05360032924967871, + 0.7618576800021052 + ], + "orientation": [ + 0.9991495298644677, + 0.001344887366772, + -0.004567395460643859, + -0.04095787040716706 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.027732188119635636, + 0.10338362476542474, + 0.8582164535591348 + ], + "orientation": [ + 0.9999997308938872, + -0.0007333790321658754, + -2.3178955002005622e-06, + 1.9025682644653612e-05 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.13827562002313046, + 0.05334071069480572, + 0.7733995685464893 + ], + "orientation": [ + 0.993812925357615, + 0.002899046125880134, + -0.005529181611143619, + -0.11089135707714085 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.33106747538806114, + 0.09966087588061642, + 0.8882115407918653 + ], + "orientation": [ + -0.3619380100015798, + -0.50327886093083, + 0.495685848804665, + -0.6082818461462265 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example20/input/input.png b/Semantic/select_chemistry_tube_semantic/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..93d25545eca02acbbddaca7e1d38d3b280eaf7e0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa4706973a09391d4f7812a89a57f273e7ba51851493191ef86a8668dafb7d24 +size 695557 diff --git a/Semantic/select_chemistry_tube_semantic/example20/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4b648a6d2d295c23726ab3adc5b969f6f1b938fb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db16f8c34c51b71af21da599520680ea97338aceb6e1e4e0709fa691f699ba1d +size 615243 diff --git a/Semantic/select_chemistry_tube_semantic/example20/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2386f7a3a81c7caff9f7c28df79afcc3d179371d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example20/input/instruction.txt @@ -0,0 +1 @@ + I need to create a copper-based catalyst for an organic synthesis reaction. Please provide me with the CuCl2 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example20/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example20/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/Semantic/select_chemistry_tube_semantic/example21/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..510dcc91993bc063bcad77f9e18559f800b7d8f8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example21/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.3175853440027385e-10, + 5.545528377433104e-10, + -8.472408244834642e-07 + ], + "orientation": [ + 0.9999999999999997, + -1.0519460358071495e-08, + -2.4974082067603462e-08, + -8.582647904128694e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.16159929914656165, + 0.06816901465771877, + 0.7599988402614739 + ], + "orientation": [ + 0.9999999999999966, + 4.9371078798584004e-08, + -2.5812854562634913e-08, + 6.342014988441984e-08 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.23952214588415247, + 0.11810862206208467, + 0.7591807472586919 + ], + "orientation": [ + 0.9983856553195574, + 0.0007820537749452206, + -0.050920196260572176, + -0.025151645210936133 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.2415994258148203, + 0.1681787672747506, + 0.8582128855227371 + ], + "orientation": [ + 0.9999999344347091, + -0.00034713915766114455, + -0.00010304314883096429, + 2.6628758411250393e-06 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08160108794327073, + 0.018170604367052628, + 0.7592158822692039 + ], + "orientation": [ + 0.9999995199423576, + -0.0006190715298471098, + 0.0007579790561286277, + 4.83036861049067e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.11263435312902587, + 0.07119007868139772, + 0.8603172657782455 + ], + "orientation": [ + 0.9228470989666065, + -0.006278857225714495, + -0.032538049571691645, + 0.38373830042221196 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.16160947007135767, + 0.11839341779178762, + 0.7618524845668931 + ], + "orientation": [ + 0.9991520147938283, + 0.0013427264046197511, + -0.004478953928091598, + -0.040907057960046546 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1615994184027926, + 0.16817855865632333, + 0.8581973831533682 + ], + "orientation": [ + 0.9999999999995177, + 2.917708592803659e-07, + 5.101546592260806e-07, + 7.874622568487321e-07 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example21/input/input.png b/Semantic/select_chemistry_tube_semantic/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..62172fc3507ca6894240211219e5443cdd7a3c0e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:134daa6c14518deda969baaae6bdfc69ba1eee2908183568fb93f4a8ab2ce1f6 +size 685583 diff --git a/Semantic/select_chemistry_tube_semantic/example21/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2211e2ea55cb60e50d551f5ac0fc2e2691d1045f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7c3369eab7f0be1c19e3f747743cdae977f3b04e607e001964b05f599d1ce81 +size 596791 diff --git a/Semantic/select_chemistry_tube_semantic/example21/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..bb50164691e1c29a59c4cd3910fe78c6ece94496 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example21/input/instruction.txt @@ -0,0 +1 @@ + I am synthesizing a coordination complex. Please provide me with the FeCl3. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example21/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example22/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc001be692ce183ca129ba7725d17b341c8ed18 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example22/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.2264781925327307e-10, + 2.138850608038034e-10, + -8.467699003308589e-07 + ], + "orientation": [ + 0.9999999999999994, + -1.7113185196640732e-08, + 4.324465683942492e-09, + -4.360942422051499e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.0297578229529832, + 0.11157968817738687, + 0.759998836278653 + ], + "orientation": [ + 0.9999999996265808, + 4.503501077769379e-08, + -1.5655287812811416e-08, + -2.7328307745554392e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.13775518679049714, + 0.16095582675244338, + 0.7591074388496716 + ], + "orientation": [ + 0.9997489694968117, + -0.003732055562265809, + -0.0009622063887660078, + -0.022071336846912943 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1664215483673634, + 0.22684413326772535, + 0.8740696782764096 + ], + "orientation": [ + 0.9433118519669588, + 0.009441251845171871, + 0.2649800767845664, + -0.19964761859212807 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.029635421106006928, + 0.061816473718957106, + 0.7628829655496571 + ], + "orientation": [ + 0.9989659553436084, + 0.0014388484031505966, + -0.004706840528487067, + -0.04519729452017653 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.03996389897981663, + 0.07178154451710111, + 1.12711177762354 + ], + "orientation": [ + -0.6044834057149393, + 0.6829020406446064, + -0.3914162917453316, + -0.12262912237732979 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example22/input/input.png b/Semantic/select_chemistry_tube_semantic/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..311be8d23938a4280a7cce31d1e09f0650a85737 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b3be90bc23a3638f07a3b66b96b6008253ece8b54c1d1d49336ea0fd9187030 +size 685578 diff --git a/Semantic/select_chemistry_tube_semantic/example22/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..adab4fb327de3d1c90b4b87f2d038b58022ef1c5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3ec5d46c444c12c52cb9f093aca5377d0e482072d5570a1fcce9d5165eeab98 +size 602774 diff --git a/Semantic/select_chemistry_tube_semantic/example22/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..daa7fc0322f7eaecdf65d0dfcc8b437707644ab3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example22/input/instruction.txt @@ -0,0 +1 @@ + Were conducting a demonstration of the oxidative properties of permanganate. Please locate the KMnO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example22/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example23/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9c2d13933e9f8ca0e971608cd7628c4652b7deb8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example23/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.354474768745376e-10, + -2.406367189547987e-10, + -8.47041854140967e-07 + ], + "orientation": [ + 0.9999999999999991, + -1.4524398199157762e-08, + -2.6915221991414942e-08, + 1.111168023811606e-12 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.17652371636829883, + 0.09466820432507479, + 0.7599988232169324 + ], + "orientation": [ + 0.9999999999682357, + 8.356674192810571e-08, + 2.010930846013959e-08, + -7.97010918053305e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.09651211560303082, + 0.04466479080281038, + 0.7592158807165966 + ], + "orientation": [ + 0.9999995199450497, + -0.0006190712753856751, + 0.0007579757259423648, + 4.830346992342984e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.11223626811234463, + 0.15037646123149603, + 0.9025456568768064 + ], + "orientation": [ + -0.9619887961478011, + -0.2408981533612471, + -0.12738397220162223, + -0.017859435024169503 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.2544323336291514, + 0.14460283343576047, + 0.7591844125796889 + ], + "orientation": [ + 0.9983834036752994, + 0.0007864205035754732, + -0.05098038861243516, + -0.025118932808571144 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.2565155289116779, + 0.19467314720743906, + 0.8582193031314168 + ], + "orientation": [ + 0.9999998881115962, + -0.00044194214084850876, + -0.00016869137407702739, + 2.675559232038857e-06 + ], + "class": "NameTag", + "content": "K2CrO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.010856526342795846, + 0.045391503498249136, + 0.7767246595096642 + ], + "orientation": [ + 0.9962186366031047, + 0.0069800716923153604, + -0.013639318641698329, + -0.08552003081625123 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.12918626113082657, + 0.16303287195726446, + 1.2379924193042027 + ], + "orientation": [ + -0.6631540708814186, + -0.49204443094555306, + 0.5152137751235206, + -0.22950756451986282 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example23/input/input.png b/Semantic/select_chemistry_tube_semantic/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9261b485cb18da122e03e6cd54aaf61c15fc67d9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e8b223ee464bb2e70b86f781a64a907e19451f5be4d3157471b4554d2fcc535 +size 697795 diff --git a/Semantic/select_chemistry_tube_semantic/example23/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d72e1c4487f08b5d18e82ef22c5c9f606455add1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48483e2773f4b488e064573bd8dce5886cab7155497c3ebc5bcc66257a3329a8 +size 611697 diff --git a/Semantic/select_chemistry_tube_semantic/example23/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c19bf6ff2e92129c0372155d972c8107183a6703 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example23/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution for a flame test demonstration. I need the CuCl2 to show the characteristic green flame. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example23/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example23/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/Semantic/select_chemistry_tube_semantic/example24/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c4008c5a2eaa57902b58ae3c49a31bb9f6cf1eb5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example24/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.6533150224291907e-10, + 1.918353494340943e-10, + -8.474420970317581e-07 + ], + "orientation": [ + 0.9999999999999994, + -4.132174103424557e-09, + -1.6930160991057054e-08, + 5.011257295575699e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.10788160764791153, + 0.02664848795051753, + 0.759998837553451 + ], + "orientation": [ + 0.9999999999248504, + 9.968126889699547e-08, + -7.37819817142771e-09, + 1.2259240200675272e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.027896950011557304, + 0.07664756527373424, + 0.7592158849549363 + ], + "orientation": [ + 0.9999995199429982, + -0.0006190704524721859, + 0.000757979090574548, + 4.830369080267489e-05 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.02744111766950726, + 0.12744374894756458, + 0.8582270266559585 + ], + "orientation": [ + 0.9998931115710196, + -5.150947488322596e-05, + -0.0004825209594613752, + 0.014612664134993944 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.27498452948373736, + -0.02404239107220961, + 0.7591310726504019 + ], + "orientation": [ + 0.9997068704137816, + -0.003931868259901377, + -0.002695858997904122, + -0.023737017582945996 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.2823328298673982, + 0.10921364548780199, + 0.8260380675342937 + ], + "orientation": [ + 0.6085822610032013, + 0.1329504547589721, + 0.08979175586330414, + 0.7771031133322006 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.1078484872061531, + 0.07685869374730794, + 0.7612361031864165 + ], + "orientation": [ + 0.999237097046225, + 0.0013068938299274449, + -0.0054694362330388055, + -0.03864713679489698 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.10789193432175738, + 0.1266595034402032, + 0.8581974772890703 + ], + "orientation": [ + 0.9999999999495071, + -2.0558221583889186e-07, + 9.424442452628175e-06, + 3.481936870207118e-06 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example24/input/input.png b/Semantic/select_chemistry_tube_semantic/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5e64d7d51aeca3095c29c3bab91e95ec36ba467e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f0ccdd834a2a8ecba42f4b6d30a60c6eee7a48dc8ee5f3888a8fddc1162b88 +size 712054 diff --git a/Semantic/select_chemistry_tube_semantic/example24/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..46ab0f112de96b30f6928a8eab3e758ee82e8f6c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05516d66b1d7cf9501e705ea53d0fd4608897dd64401878886089d505ee8d903 +size 626348 diff --git a/Semantic/select_chemistry_tube_semantic/example24/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c78efc985483d6f17072f2896a2bb0ea9ee535c0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example24/input/instruction.txt @@ -0,0 +1 @@ + We are synthesizing adipic acid from cyclohexene. Please locate and provide the potassium permanganate. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example24/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example24/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/Semantic/select_chemistry_tube_semantic/example25/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5f6fb7113e9fd35f111c050c0bf6ff2721dcc758 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example25/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.033366536149607e-10, + 1.8927483150843392e-10, + -8.468124486787464e-07 + ], + "orientation": [ + 0.9999999999999994, + -6.594741378195497e-09, + 1.0014029400245814e-08, + 1.4207926801037828e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.06538795591923326, + 0.042904835886197444, + 0.7599988430531626 + ], + "orientation": [ + 0.9999999999948249, + 5.904212947308665e-08, + -2.828371221296542e-08, + -3.216501444261561e-06 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.06528665679710381, + -0.006858810400255224, + 0.762888869248904 + ], + "orientation": [ + 0.9989624741174142, + 0.0014416059036545033, + -0.004810663504157707, + -0.04526317039584533 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.015350151134870819, + 0.023699585196841035, + 0.9418909198800832 + ], + "orientation": [ + 0.1516358716144393, + 0.19223398986069043, + 0.30236979463918723, + 0.9212085338683237 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1453862169836303, + 0.09290327903408528, + 0.7592158827188576 + ], + "orientation": [ + 0.9999995199453395, + -0.0006190703215489579, + 0.000757976121178232, + 4.830349762999647e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14584317713536044, + 0.14369640514931337, + 0.8582320119090608 + ], + "orientation": [ + 0.9998924816606771, + -8.590388124761852e-06, + -0.0005748888925239363, + 0.014652458749906838 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example25/input/input.png b/Semantic/select_chemistry_tube_semantic/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7b52540174fa67deb3c8c99aca4d73f01844d0fd --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d1dca898e9f7265de1c9c39e2451564395e90b455726c19c3e38fad8469d868 +size 661332 diff --git a/Semantic/select_chemistry_tube_semantic/example25/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c24d2ff86c820c030fad8ef3b8d1d959ed7b08ad --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d30a46802d898766d792d33cda49f0d87cb3df506f5632b815bbb77ca9453c5d +size 579926 diff --git a/Semantic/select_chemistry_tube_semantic/example25/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2946ba41f605da1b8fb39fd72be374a5ac9b9231 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example25/input/instruction.txt @@ -0,0 +1 @@ + Im performing a qualitative test for phenol groups. Please hand me the FeCl3 solution.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example25/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example25/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/Semantic/select_chemistry_tube_semantic/example26/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee59b99aa98e5b7d02aec99f795a46484f90374 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example26/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.280662496288971e-10, + -1.1330612517316202e-11, + -8.46623407598163e-07 + ], + "orientation": [ + 0.9999999999999996, + -1.8917665919880246e-08, + -7.001261812272187e-09, + -8.358839287963092e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.04625805542083344, + 0.12349945113877146, + 0.7599988407883994 + ], + "orientation": [ + 0.999999999308569, + 5.617359272259991e-08, + -8.583235775898429e-10, + -3.718681089485589e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.11946636975770611, + 0.07399887214340183, + 0.7776038002328884 + ], + "orientation": [ + 0.9935267012812851, + 0.005275319857300335, + -0.013288196722177943, + -0.11269555745194679 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.10919564271858472, + 0.22281113030432897, + 1.2160656745152836 + ], + "orientation": [ + -0.16497696705979042, + -0.8525213986929565, + 0.0352484621283457, + 0.4947195276395945 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.21377912231052226, + 0.17288082062742202, + 0.7591061561654981 + ], + "orientation": [ + 0.999749216231831, + -0.0037183762587292843, + -0.0009168119085067336, + -0.022064400688992375 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.3428241401260421, + 0.36250882208961854, + 1.0002450211506568 + ], + "orientation": [ + -0.7030028041833145, + -0.616807695867251, + -0.027564831147294515, + -0.35295255164561345 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example26/input/input.png b/Semantic/select_chemistry_tube_semantic/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eb600a8371cb367c3a97af5a10d3730f50ca9e78 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b511aa6047feefe671ba057494f9beda118ba66cc713e6c2249eac329111d69 +size 685766 diff --git a/Semantic/select_chemistry_tube_semantic/example26/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ff9d93f44406f8e51799905e8256e0cf2ef981b8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bce21adf930f34be3f2ee63ac78a7b0c0ae9f9439fba52db72348cfbb422550a +size 602178 diff --git a/Semantic/select_chemistry_tube_semantic/example26/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96aa3f187666c50d087d7f8ac9e14b0adc6ae640 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example26/input/instruction.txt @@ -0,0 +1 @@ + I need to prepare a mordant for dyeing fabric. Please hand me the FeCl3. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example26/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example26/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/Semantic/select_chemistry_tube_semantic/example27/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d61381098d4b9a0fb96ac7ca68b6ccf3e5fe55d9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example27/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.272748790221393e-11, + -8.500473559307021e-10, + -8.471784413492664e-07 + ], + "orientation": [ + 0.9999999999999999, + -1.4067522938504572e-08, + 9.644538959650358e-09, + -6.206690922342873e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.061732029698620405, + 0.09223701611678105, + 0.7599988326693393 + ], + "orientation": [ + 0.9999999999958508, + -1.3129557899235587e-07, + 1.2885682602644998e-08, + 2.8776757838333507e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.14172925174403067, + 0.0422322367546544, + 0.7592158831062497 + ], + "orientation": [ + 0.9999995199470428, + -0.0006190714111207575, + 0.000757972996471738, + 4.8303293728455514e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.08832761802549509, + 0.08367600779124124, + 0.8860555027749368 + ], + "orientation": [ + 0.6198779292947398, + 0.4241780186258718, + 0.2076085914754088, + 0.6266761795644482 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.10538221678692762, + 0.04154749140179398, + 0.7591291957698818 + ], + "orientation": [ + 0.99970722853297, + -0.003918532865145293, + -0.0026379388507045843, + -0.023730646803900954 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.19326915581171686, + 0.08901146377064197, + 0.9105002983838735 + ], + "orientation": [ + -0.478811585591141, + 0.12967172080817158, + 0.07126999586125701, + -0.8653584794848214 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.22747415803275486, + 0.04273477767412546, + 0.7775921861317455 + ], + "orientation": [ + 0.9933111971200135, + 0.005266048352673559, + -0.013375771569859562, + -0.1145697304948599 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.3686677113292373, + 0.16019289434593964, + 1.2368300434797488 + ], + "orientation": [ + -0.6404283247267423, + 0.44636043821058274, + 0.5806118257914223, + 0.23130894457263385 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example27/input/input.png b/Semantic/select_chemistry_tube_semantic/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ef6a867cce0fab0407bc697e4ee7de43d7960d1e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:112d58787431aa44f06f1d3a07cf8ce8d5f3a428f27ce348fb1aaa2b73d34537 +size 684087 diff --git a/Semantic/select_chemistry_tube_semantic/example27/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1c74519709b274197da0b4332ec934eb6da2b1f6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec1c01784e87ef6521ba5540641f282db060a299670b9516a2cf9ce38dda8ee5 +size 598720 diff --git a/Semantic/select_chemistry_tube_semantic/example27/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e7d33ed0d8c8c861a20c66a8dadd6956795c3076 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example27/input/instruction.txt @@ -0,0 +1 @@ + I am studying the dehydration of hydrated copper sulfate. Please provide me with the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example27/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example28/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..376ff33ca377855b0519fc3e1f7cd369c7f590bd --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example28/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.822044421208233e-10, + -6.040794878213182e-10, + -8.467357991882003e-07 + ], + "orientation": [ + 0.9999999999999988, + -2.1790376621327852e-08, + -1.0602204468305966e-08, + -3.938229019270509e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.0677289732598956, + 0.1427649706993321, + 0.7599988378614079 + ], + "orientation": [ + 0.9999999999269585, + -1.404981596109749e-07, + -1.7343373091992253e-08, + 1.2085647222723568e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.1465199326977539, + 0.09279743658242677, + 0.759206932770338 + ], + "orientation": [ + 0.998447052461, + 0.001206987669064661, + -0.04445005782906092, + -0.033559186100093334 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.10323077457128811, + 0.17575737740597383, + 0.9361999440195047 + ], + "orientation": [ + 0.7554825716775787, + -0.44396028378768215, + -0.23434493537850137, + -0.4209843246167709 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.23483268940117571, + 0.09207085355320112, + 0.7591310740152913 + ], + "orientation": [ + 0.999706870407965, + -0.003931867926807032, + -0.002695860725615058, + -0.023737017686860994 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.4151713495143806, + 0.08928240782807408, + 1.4773275316925292 + ], + "orientation": [ + -0.3321112917257111, + -0.19914811629089502, + 0.9029269845734899, + -0.18645368919678773 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example28/input/input.png b/Semantic/select_chemistry_tube_semantic/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..14da706686f17ce09d580102c6933c708f00d20c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dffb36408165aa36614f6857a7670e5a7005e719c55cafa00fbe1276ab3c1bf +size 693626 diff --git a/Semantic/select_chemistry_tube_semantic/example28/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8e0d637b63de94673ed0f16760052aca896dc819 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cc119ca669b2fb47be1372d66c6a4a94a12bd8e1e0ccf3fa35801f7db1a1a1e +size 611528 diff --git a/Semantic/select_chemistry_tube_semantic/example28/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..184fa9c1d1ab04a8a12a9d4efeb228482adddaa9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example28/input/instruction.txt @@ -0,0 +1 @@ + Were performing a quantitative analysis experiment using copper sulfate. Please retrieve the CuSO4 for me.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example28/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example28/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/Semantic/select_chemistry_tube_semantic/example29/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7e33cb5ad3df959bc841d5c794ab0296cb27a939 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example29/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.696897418769579e-10, + -3.1277120945731406e-10, + -8.472511105031257e-07 + ], + "orientation": [ + 0.9999999999999996, + -1.76704621445752e-08, + 1.261184101081545e-09, + -1.1640156100462532e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.009632867502013876, + 0.11409328279340945, + 0.7599987942728627 + ], + "orientation": [ + 0.9999999997996049, + -9.034164898740469e-08, + 5.437797023755297e-10, + -2.001956963732677e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.00951106804263409, + 0.06433165286770133, + 0.7628829170368814 + ], + "orientation": [ + 0.9989653751558657, + 0.0014387079562194116, + -0.004706001004215546, + -0.04521020806924653 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.0038257601190517633, + 0.11871032050082096, + 0.8581465603764815 + ], + "orientation": [ + 0.9840370910030162, + 0.0004935729432314111, + -0.0009059404220293686, + -0.17796049895418972 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06844205472730755, + 0.16404110971655375, + 0.7594046902556123 + ], + "orientation": [ + 0.9984184022950068, + 0.0006145578781819611, + -0.051678315789875105, + -0.02212844220504457 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.070602804880617, + 0.2147433246345194, + 0.8582394893042614 + ], + "orientation": [ + 0.999902340281422, + -4.322724947504976e-06, + -0.0007131940561744125, + -0.013957121310896707 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.15787960511838683, + 0.1634710184627254, + 0.7591074380074627 + ], + "orientation": [ + 0.9997489694979932, + -0.0037320553054521256, + -0.0009622063009964766, + -0.022071336840635697 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.18774810665443156, + 0.2117319999729026, + 0.8609155042176175 + ], + "orientation": [ + 0.9996948285271147, + -0.01947133000682503, + -0.004876742748106745, + -0.014399114697689005 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example29/input/input.png b/Semantic/select_chemistry_tube_semantic/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0e3cd0e34ed255d03ef2322a89a9a271fe83e5aa --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571b8b0a727023fcc0c93ccabd577ea495cca774dd8a6fa73a04b820cf762a16 +size 688289 diff --git a/Semantic/select_chemistry_tube_semantic/example29/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a00829e580e3328e9b449d595e677544890b406 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b112cbe87c0b267604d356c24585805df0e09c46a7f535ab767206205a10642 +size 602093 diff --git a/Semantic/select_chemistry_tube_semantic/example29/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab7a0345901df3549befe9133ffa6f802c351ade --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example29/input/instruction.txt @@ -0,0 +1 @@ + I need to demonstrate a ligand substitution reaction with copper ions. Please give me the CuCl2. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example29/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example29/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/Semantic/select_chemistry_tube_semantic/example3/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6e270c47cd3ec82e3f413dcd1f69bc3e30efee --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example3/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8059054490324093e-10, + 8.078995052077996e-11, + -8.47159054026133e-07 + ], + "orientation": [ + 0.9999999999999991, + -1.5000368920439026e-08, + 2.4291488242390372e-08, + -2.1059663719677004e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.15593458752816994, + 0.09750700516153683, + 0.7599988340049385 + ], + "orientation": [ + 0.9999999999949711, + 5.020620095823731e-08, + -1.3630192138031904e-08, + -3.1708469727898878e-06 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2359327996439184, + 0.147505407079514, + 0.7592158713441983 + ], + "orientation": [ + 0.9999995199475149, + -0.0006190689806807209, + 0.0007579743529992958, + 4.830338061962491e-05 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.23638975761497993, + 0.19829867245619923, + 0.8582320154339259 + ], + "orientation": [ + 0.9998924790401542, + -8.674250063874654e-06, + -0.0005749361940436082, + 0.014652635669564883 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1558332334884029, + 0.047743317856177934, + 0.7628888507990406 + ], + "orientation": [ + 0.9989624752421357, + 0.001441594512323207, + -0.0048103229243087395, + -0.045263182132184436 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.19375678818109904, + 0.081736178988543, + 0.9194275954937589 + ], + "orientation": [ + 0.6820932844972708, + 0.6216150992648297, + -0.12418691416502617, + 0.3645833648973451 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example3/input/input.png b/Semantic/select_chemistry_tube_semantic/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e0d47435e4e38b96e54bc72b4cb871ac432b68a6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70a3dc36e8f100861edc92b3f04bb758f96de92e5ae864ef3fd604e10cf9d4da +size 724712 diff --git a/Semantic/select_chemistry_tube_semantic/example3/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5dcf2a0bbf12cab0d12f3f241bb321415dae017b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:faef07aa4af338b7f6fef171bbedffc2e28b5589631c2648d967f8e2ac77b240 +size 640397 diff --git a/Semantic/select_chemistry_tube_semantic/example3/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ec372db731fbf129c193c108a6dfbb5f45d5aac0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example3/input/instruction.txt @@ -0,0 +1 @@ + Im about to perform a Baeyers test for unsaturation. Please provide the KMnO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example3/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example3/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/Semantic/select_chemistry_tube_semantic/example30/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8287aca3d91ce89893bb14978567a0e791932d3c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example30/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.469226448655206e-10, + 5.321415321560297e-10, + -8.47166435919057e-07 + ], + "orientation": [ + 0.9999999999999992, + -7.954846645540119e-09, + 2.7683200307544876e-08, + 9.981859460019774e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.18131895149459135, + 0.05183732096471975, + 0.7599988369640238 + ], + "orientation": [ + 0.999999999999997, + 4.8033748413731335e-08, + 2.8509840657107528e-08, + -5.254997605657461e-08 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.26131669951565983, + 0.10183924350334056, + 0.7592158711174473 + ], + "orientation": [ + 0.9999995199424396, + -0.0006190692030803426, + 0.0007579808408399475, + 4.8303800890854166e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26177273259599365, + 0.15263243719380465, + 0.8582278010499719 + ], + "orientation": [ + 0.9998932945623142, + -5.1386475379224706e-05, + -0.0004958957748844443, + 0.014599689590253576 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.18130826716423323, + 0.10206205988686952, + 0.7618523499508031 + ], + "orientation": [ + 0.9991520544971517, + 0.0013426588521032977, + -0.00447637957910601, + -0.04090637220765926 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.18131910914076446, + 0.15184697106821152, + 0.8581973796081419 + ], + "orientation": [ + 0.9999999999994567, + 3.0096896360095487e-07, + 6.207183681495213e-07, + 7.818097679658325e-07 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1010076399277831, + 0.0015940921520907147, + 0.7656314015745853 + ], + "orientation": [ + 0.9951696594659805, + 0.009822991343096136, + -0.032810494773576206, + -0.09200178885299226 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14241744886836985, + 0.03537422042688618, + 0.9398732200484218 + ], + "orientation": [ + 0.3646562982519294, + 0.6543842542844687, + -0.6586405267113685, + 0.07070847518601904 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example30/input/input.png b/Semantic/select_chemistry_tube_semantic/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a462eacd6d0a44d7fea51e9bf67824709056b7e0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d30cfd4db13bc081482a47bf2a14b853f64f788d9c554f2e659e0e0d2e5cc0d6 +size 720201 diff --git a/Semantic/select_chemistry_tube_semantic/example30/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4fcbd592bb6aa67a896b45438c362ef213ff6b8c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c07f687fa8209508b57c0633e8d780987cc7378a45da04152850353f9818cf1f +size 636011 diff --git a/Semantic/select_chemistry_tube_semantic/example30/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..326b5cbe6ef6371472b20f7f207d2c1c381ddb73 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example30/input/instruction.txt @@ -0,0 +1 @@ + In today’s lab, were examining the effects of different chloride salts on the rate of hydrolysis. Could you pass the CuCl2 solution, please? \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example30/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example31/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1a534134d06b752a8d5f600b0edd7d9ec4ae35 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example31/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9413888139473446e-10, + -4.969139232657858e-11, + -8.466577359928048e-07 + ], + "orientation": [ + 0.9999999999999986, + -1.276070444258386e-08, + 2.781333585015109e-08, + -1.809071642408398e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.18280162363055144, + 0.08491078770959629, + 0.7599988260378434 + ], + "orientation": [ + 0.999999999621461, + 5.354425998020383e-08, + 5.654877955281022e-09, + -2.7514989792024483e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.016823623076915397, + 0.1309562657183989, + 0.7593707688940879 + ], + "orientation": [ + 0.9986133657337929, + 0.009005080545622508, + 0.003913441339470878, + -0.051719815149279605 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.03157649694911191, + 0.17173023044687002, + 0.9111963885346779 + ], + "orientation": [ + -0.4852086025779102, + 0.7050485909711198, + 0.052034876699942764, + -0.514559489234095 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1826791218294494, + 0.03514752859789362, + 0.762882945443269 + ], + "orientation": [ + 0.9989659761836299, + 0.0014388375390332543, + -0.004706378237688329, + -0.04519688239147236 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.17700957635239595, + 0.08950859413099184, + 0.8581767785103768 + ], + "orientation": [ + 0.9842366514469126, + 0.0035527399203127176, + -0.0016625771052953741, + -0.17681297414216013 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example31/input/input.png b/Semantic/select_chemistry_tube_semantic/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4f44dc13c38667acd202d8ad7780f5824cda29c4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056db7afeaf3eaaab39838124b5064a646b6d2367f9c8bfb6aaeecdb62b0ca94 +size 725358 diff --git a/Semantic/select_chemistry_tube_semantic/example31/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..57b640f4ae2e756217f0c16760107fe6ca790f76 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dbd25b76911c28a2f968a4e2e1f1d7d5a9815468fdfca3e5111acf7214de15e +size 641228 diff --git a/Semantic/select_chemistry_tube_semantic/example31/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff35709ae381682ab91a931ab63ef2bd42c4d590 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example31/input/instruction.txt @@ -0,0 +1 @@ + I need to determine the concentration of an oxalate solution. Please get the potassium permanganate for the titration.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example31/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example31/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/Semantic/select_chemistry_tube_semantic/example32/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5f34e798c1b95bf306a4bf4971633b03b1565fee --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example32/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.2730747805105175e-10, + -6.064410340955711e-10, + -8.466607099804588e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.972527972780811e-08, + -7.675802372080937e-09, + 1.2986170147858998e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.048761667862133776, + 0.19400096129373645, + 0.7599988279462309 + ], + "orientation": [ + 0.9999999999526327, + 9.247966292788156e-08, + 7.94545048719726e-09, + 9.732758018210908e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.12895778425404608, + 0.14293800723748726, + 0.7650851457160196 + ], + "orientation": [ + 0.9976046545817843, + 0.006052464984821982, + -0.035691691809336415, + -0.058944244504064054 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1056543582578042, + 0.1865244500376602, + 0.8580343519093881 + ], + "orientation": [ + 0.9875015761169226, + -0.0008520822911071421, + -0.0013460830061797846, + 0.15760107608421617 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1172479877132241, + 0.24396529383605758, + 0.7734005929137813 + ], + "orientation": [ + 0.9938149919392798, + 0.0028991659198828253, + -0.005532069573421364, + -0.11087268752913407 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14086912404415117, + 0.32174109514494786, + 0.8368912551679477 + ], + "orientation": [ + 0.6351962326260995, + -0.3477878274859623, + 0.3228964489177865, + 0.6093498636961265 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example32/input/input.png b/Semantic/select_chemistry_tube_semantic/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2ffe1a5061dc085d6bff2616f8ab9f71a8228b8f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:712ded038d0085de5978823b5c78ee9cda94720f212cd6856d513605a5f1ddcc +size 702937 diff --git a/Semantic/select_chemistry_tube_semantic/example32/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7b7b391d423cb1e1ad52ac17367eaacf9c8071e1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c4f4e23f2a918b496bb1117e08272e22c1513a34c15d0ff270930e3a636e0b1 +size 619518 diff --git a/Semantic/select_chemistry_tube_semantic/example32/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8f4f81dada2a0fe324316770ccd5768254590b3e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example32/input/instruction.txt @@ -0,0 +1 @@ + I am studying the effects of different metal salts on crystal growth. Please provide the CuCl2 for the next set of trials. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example32/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example32/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/Semantic/select_chemistry_tube_semantic/example33/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..65720f5950bf9e82a4f993098582352cdfe56c24 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example33/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.20855723258772e-10, + 3.845108919846003e-10, + -8.474012609961362e-07 + ], + "orientation": [ + 1.0, + -3.2363517492646878e-09, + 2.745750134139479e-09, + -7.864698243145308e-12 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.01890977285437683, + 0.020297244711980973, + 0.7599988477221739 + ], + "orientation": [ + 0.9999999998052433, + 7.621395910658059e-08, + 8.70276386078038e-09, + -1.973595513773542e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.018937525825851943, + 0.07051002245386306, + 0.7612339323099072 + ], + "orientation": [ + 0.999239523817072, + 0.001306208118808194, + -0.005429036840043014, + -0.038590068944876224 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.018906237789305388, + 0.12030722066580782, + 0.8582170448643761 + ], + "orientation": [ + 0.999999713356686, + -0.0007569113562186922, + 3.464600673869945e-06, + -1.8966835653154883e-05 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.14860201314124008, + 0.06967624766408227, + 0.7591074412756335 + ], + "orientation": [ + 0.9997489694953051, + -0.0037320561349685724, + -0.0009622061017106768, + -0.022071336830823365 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.22626502017398029, + 0.14470161222232075, + 0.9151928739511261 + ], + "orientation": [ + 0.697890678707924, + 0.30310158645691565, + -0.6420373120524673, + 0.09416007005273895 + ], + "class": "NameTag", + "content": "K2CrO4" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.09889025616184212, + 0.07029880254644787, + 0.7592158855242407 + ], + "orientation": [ + 0.999999519943702, + -0.0006190705860262422, + 0.0007579780575179678, + 4.830362386272952e-05 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.09936187593828934, + 0.12109022286180622, + 0.8581967596860508 + ], + "orientation": [ + 0.9998948678317919, + -1.3392721145001288e-06, + -1.7962802620144227e-06, + 0.014500113055493534 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example33/input/input.png b/Semantic/select_chemistry_tube_semantic/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6a8bcf8a546d79cafdadfb80f45084125653e5ef --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90e1a79097f2b1ac8ce3b3bbd8ea80bcabb53c0c91322ff829e9add205cbf6ca +size 696855 diff --git a/Semantic/select_chemistry_tube_semantic/example33/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1f3c653e98f2146056d7943b4629f2590df97b49 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe2430d6d1f15228dae254dd576d248410ab97e4bc011b74f86c9fbb3f939fd7 +size 612472 diff --git a/Semantic/select_chemistry_tube_semantic/example33/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..67a0cce701c922b8ed0baa22830244b9c75d51f8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example33/input/instruction.txt @@ -0,0 +1 @@ + Were studying the electrolytic refining of metals today. I require the CuSO4 solution, as it acts as an electrolyte in copper plating. Please bring it over. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example33/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example33/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/Semantic/select_chemistry_tube_semantic/example34/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..43bcbc3db944c2f4ed33a3a542060ef8bbf2aecc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example34/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.180345743737847e-10, + -9.713080794087273e-10, + -8.465269226940943e-07 + ], + "orientation": [ + 0.9999999999999998, + -1.943069065599962e-08, + 1.3038857762060878e-08, + -1.723262142821557e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.08539175495807266, + 0.1276180350967702, + 0.7599988149552315 + ], + "orientation": [ + 0.9999999999453967, + 8.467389074732442e-09, + 2.387552343596185e-08, + -1.045010536949085e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2510589713611734, + 0.07834218645841734, + 0.776723753083376 + ], + "orientation": [ + 0.9962207935308963, + 0.006980786085621872, + -0.013642477499946177, + -0.08549433881819306 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.07979995748612957, + 0.2822423696619178, + 1.204696910195679 + ], + "orientation": [ + 0.15913551395807554, + 0.2810293349900427, + -0.8646150801454009, + 0.3848885088665497 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.0852530488620552, + 0.07786311038299991, + 0.7634791926361939 + ], + "orientation": [ + 0.998864438467931, + 0.0014606046230848774, + -0.00392397677578317, + -0.04745843027895757 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.03207120310425951, + 0.12018294998551948, + 0.9782208586811979 + ], + "orientation": [ + 0.11131514004786079, + 0.2515046785308742, + 0.8020120258227632, + 0.5302179237906579 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.18206917289508665, + 0.11049495993334717, + 0.793160484057998 + ], + "orientation": [ + 0.9700247482887076, + 0.20959528884643935, + -0.1228767202182174, + 0.004807725992588495 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14234656617001715, + 0.1749284205589547, + 0.9256246134924958 + ], + "orientation": [ + -0.5726846827474504, + -0.719735459390322, + -0.32496750808421604, + 0.2200210020252356 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example34/input/input.png b/Semantic/select_chemistry_tube_semantic/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..23949be492cbf5e76de6a3454080e3632d28eeac --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eff247c90a539cf37b0b19e990cedbd072a6680e594412af49a8ab5f782b4804 +size 692377 diff --git a/Semantic/select_chemistry_tube_semantic/example34/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..da812ee34b2bf02c31d6d2d3fb08314910776e83 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f88f29585b4f5c85392f9e1f7f2efe37beb4081159154b13272adf27ea066113 +size 607148 diff --git a/Semantic/select_chemistry_tube_semantic/example34/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..50090dd4b3fa118b4f21b6279a2361618b76819d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example34/input/instruction.txt @@ -0,0 +1 @@ + Im going to dehydrate CuSO4 to observe the change in crystal structure and color. Ill need the CuSO4 solution to begin. Please pass it to me. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example34/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example35/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6895bb5c8c64b4a74101add49d73b528405dcf83 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example35/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.0194218667798984e-11, + -1.0019075606736772e-10, + -8.467619740260609e-07 + ], + "orientation": [ + 0.9999999999999997, + -1.8826479014099677e-08, + -6.3073565588067e-09, + 5.884856406227103e-12 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.04096512926148254, + 0.1234330289155511, + 0.7599988273224234 + ], + "orientation": [ + 0.9999999999999996, + -1.8677038234451204e-08, + -7.110737718610445e-09, + 8.325463966881729e-09 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.11974079250566119, + 0.0734682808283843, + 0.7592159176812321 + ], + "orientation": [ + 0.9984434565366231, + 0.0012089673102666661, + -0.044522406573776284, + -0.03357019228605425 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.09587477833937023, + 0.13906202792699915, + 0.9033372764674279 + ], + "orientation": [ + 0.6002736626691906, + -0.4765494124949307, + -0.552976701703476, + 0.32678579334113617 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.03903282073308263, + 0.07343162042195402, + 0.7592158848283412 + ], + "orientation": [ + 0.9999995199453268, + -0.0006190712814381488, + 0.0007579753567433075, + 4.8303447503084476e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.007914838857207994, + 0.12656977273611475, + 0.8602962718461445 + ], + "orientation": [ + 0.921638883808934, + -0.005034020809763394, + -0.03224387344039958, + 0.3866739700464321 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example35/input/input.png b/Semantic/select_chemistry_tube_semantic/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7ea006e3a5b8498cf8279f6d048d19799397e66b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebdcf66f229de45f92fea6faeda405d2a5470f46bdd73f539601582923ec09b1 +size 728371 diff --git a/Semantic/select_chemistry_tube_semantic/example35/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..91754fb99ed983013bc57206fc5e34f333d88c5b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b2cb8c17239540211883e18c03476e497292d73ecc318e01d5c1ad79accaf3f +size 644029 diff --git a/Semantic/select_chemistry_tube_semantic/example35/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fb01f1a7d402453c6900950e4cd3bd9a78e2e9b0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example35/input/instruction.txt @@ -0,0 +1 @@ + I need to prepare a solution for etching copper. Please hand me the FeCl3.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example35/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example35/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/Semantic/select_chemistry_tube_semantic/example36/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..76d4dd84d782f75ddbb120aa68e7f27cb3379585 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example36/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2832433988946757e-09, + 5.800946002505865e-10, + -8.473944521332727e-07 + ], + "orientation": [ + 0.9999999999999998, + -5.0382348530776865e-09, + 1.5408100149633317e-08, + -3.1072082674932007e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.10073892503303354, + 0.03251497717159842, + 0.7599988380826832 + ], + "orientation": [ + 0.99999999992515, + 9.874083268313026e-08, + 2.5859495853685338e-08, + 1.223475147850112e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.0663642238199785, + -0.01817591178074679, + 0.7591310809231531 + ], + "orientation": [ + 0.9997068704010402, + -0.003931868967659071, + -0.002695861379313448, + -0.02373701773186065 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.9841741843235219, + -0.0023697135420317718, + 1.130419138935745 + ], + "orientation": [ + 0.6678340551447767, + -0.49960253833604545, + 0.5104291466847415, + -0.20942078381036977 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.18072335546547486, + 0.08251404456933037, + 0.7592158804729946 + ], + "orientation": [ + 0.9999995199449728, + -0.000619070073385367, + 0.0007579768044733557, + 4.830354146130016e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.18117942837468154, + 0.13331019935805333, + 0.858227053695354 + ], + "orientation": [ + 0.9998931227198397, + -5.185820234629862e-05, + -0.0004830608258687008, + 0.014611882169398165 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.10077178960379476, + 0.08272517431242953, + 0.7612360274849976 + ], + "orientation": [ + 0.9992371164396757, + 0.0013068610074047841, + -0.005468173718946407, + -0.038646815131486476 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.10072870341102337, + 0.13252599022459524, + 0.8581974156244805 + ], + "orientation": [ + 0.9999999999538888, + -1.8061509170763236e-07, + 9.43002846584032e-06, + 1.8065389009976166e-06 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example36/input/input.png b/Semantic/select_chemistry_tube_semantic/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ae6dd65334c6af1e8c2105ff1217794c7e4db1af --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e30324acc83e14ac397bd5c938521b6773ee5a5eb2f11816bf872a38d987ca52 +size 660345 diff --git a/Semantic/select_chemistry_tube_semantic/example36/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fb54daf60c569c63f335baada3a177d83207528e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc90cd66235c940b07484699d9d300f5c8cfe6a4c4801d4711ecdb4b06bb7eb9 +size 578216 diff --git a/Semantic/select_chemistry_tube_semantic/example36/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7789add6535129556f82a07696fbb6a11e8749c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example36/input/instruction.txt @@ -0,0 +1 @@ + Im about to start a reaction that requires an anhydrous Lewis acid catalyst. Please hand me the FeCl3. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example36/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example36/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/Semantic/select_chemistry_tube_semantic/example37/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..80293a1f625302af3dc08baba96de96bf517cdba --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example37/env_config/env_config.json @@ -0,0 +1,137 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1602318818228595e-09, + 2.621678002694886e-10, + -8.463779452285807e-07 + ], + "orientation": [ + 0.9999999999999989, + -9.931098874932993e-09, + 1.7058344152799582e-08, + 1.7237898254304712e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.11192022338528737, + 0.06523836310655068, + 0.7599988430039 + ], + "orientation": [ + 0.9999999996716941, + 1.8970781894331917e-09, + 5.060082043317734e-08, + 2.5624379409978062e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.29542286854303895, + 0.130998909521136, + 0.7982451490530955 + ], + "orientation": [ + 0.8525235025101093, + 0.22478308194542856, + -0.04022390130121058, + -0.470168354425433 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.5612676956261341, + 0.06316515662426354, + 1.1765370132531812 + ], + "orientation": [ + 0.1839164102212251, + 0.6966674482838174, + -0.6907426947486429, + 0.06085844398632628 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.11192552680274702, + 0.11545827357384326, + 0.7618577306468117 + ], + "orientation": [ + 0.9991490849659087, + 0.0013448308214753931, + -0.004568854617238973, + -0.04096856123096917 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.11191798352676188, + 0.16524136523642263, + 0.8582162670817528 + ], + "orientation": [ + 0.9999997358765416, + -0.0007264992328024135, + -8.041713381167268e-06, + 1.952030790246936e-05 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Take out the FeCl3 solution in a conversation" + ], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example37/input/input.png b/Semantic/select_chemistry_tube_semantic/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..460433927fce84c80a2b1f1506f3dbd53af3706e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5892d77ebcb87a5b998c020bd6a38f797ef2fcc60cd5cbc49a51c14db5abf554 +size 711718 diff --git a/Semantic/select_chemistry_tube_semantic/example37/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3bf569e74e09562aaf13c36545b415d4a2399c0d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4d25b6613183a8433cd957dff77568acce4f2c29ade4a82aa5802c1e185a0d8 +size 631294 diff --git a/Semantic/select_chemistry_tube_semantic/example37/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f7503f559e50f77b90797c8dc7fbea828bb7e94e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example37/input/instruction.txt @@ -0,0 +1 @@ + Were examining the iron content in water samples today. Could you handle the FeCl3 solution for use in the colorimetric determination? \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example37/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example38/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8031ecc9284570cd10912ddfc22bd3d28f38928e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example38/env_config/env_config.json @@ -0,0 +1,137 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 0.38328720240392816, + 2.0735962650873923, + 1.2894363717918602 + ], + "orientation": [ + 0.7147585527936662, + 0.6631341772490704, + -0.1170205778638234, + -0.18889006995848123 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.044629848906938795, + 0.7025460091417459, + 1.5408771468925173 + ], + "orientation": [ + 0.8550102437035397, + 0.5160083550776394, + 0.01965782895261143, + -0.04802531012863618 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.22133569029411543, + 0.6299101495048063, + 1.5228268408134507 + ], + "orientation": [ + 0.6968534334273109, + 0.6654903488140448, + -0.011050878597740453, + -0.2671998615982913 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.07651321250644381, + 0.4422895641109525, + 1.8660136279093764 + ], + "orientation": [ + -0.6626587594879483, + 0.1403519596996306, + -0.7329647954482641, + -0.06282757766976108 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.029309914179706752, + 0.6665595506320697, + 1.5784931166523801 + ], + "orientation": [ + 0.9085654351206695, + 0.28301703278487217, + 0.06576912056024342, + 0.30014102025276024 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.038681329897220174, + 0.699793131461091, + 1.5911769953018613 + ], + "orientation": [ + 0.5270007492664075, + 0.5056598969746399, + -0.6782919276438931, + -0.08061228043773855 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Take out the CuCl2 solution in a conversation" + ], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example38/input/input.png b/Semantic/select_chemistry_tube_semantic/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..efb23742885da4536f2730df5d45677582089d1f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbfbc90bed80620cf1f8098562daf9709933062b691e8afc43fc02e5f357c9ca +size 745844 diff --git a/Semantic/select_chemistry_tube_semantic/example38/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0f79c603f23961055cca5172e8fd853f2e30dae3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d086bf83a90cb21723901e9ca8324d7dea04332e11a15a1a73431f6435293423 +size 733585 diff --git a/Semantic/select_chemistry_tube_semantic/example38/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..745cb18032878852e5defba893969f42de76735a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example38/input/instruction.txt @@ -0,0 +1 @@ + In today’s lab, we are examining the decomposition reactions facilitated by CuCl2. Please supply the CuCl2 needed for this experiment.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example38/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example38/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/Semantic/select_chemistry_tube_semantic/example39/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cfd4d0ca556e4708cce2c8cd36b9374021661cd0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example39/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.923356642887265e-10, + -8.930836604578833e-10, + -8.467792050187148e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.6355902683728423e-08, + -9.924336017692323e-09, + -1.3897126858676229e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.06620643985123818, + 0.17457135564729384, + 0.7599988218442187 + ], + "orientation": [ + 0.9999999999256751, + -1.4598083200111736e-07, + 2.3495872618057267e-08, + -1.2191321287873223e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06475926187297112, + 0.12490696099603021, + 0.7590042220486894 + ], + "orientation": [ + 0.9768803824702663, + -0.04141835991531173, + -0.01312444286409503, + 0.20932507448029036 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.07000569677844012, + 0.17849806546571267, + 0.8581348636273475 + ], + "orientation": [ + 0.9884351695282744, + 0.0003982212593188024, + -0.00016548463078074925, + -0.15164342938049646 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.09946199488951847, + 0.12529868905159028, + 0.7767187852605401 + ], + "orientation": [ + 0.9962281410218248, + 0.006984260037731637, + -0.013653547533290402, + -0.0854066261345095 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.24117522829912375, + 0.13425042694816589, + 1.1053371708517332 + ], + "orientation": [ + 0.8607876529960404, + -0.273626815034271, + 0.4140149625206292, + 0.11298049987857334 + ], + "class": "NameTag", + "content": "K2CrO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.1458385091406906, + 0.12794120348924234, + 0.7670155308622979 + ], + "orientation": [ + 0.996978424399573, + 0.0070457806604038, + -0.047715753233572945, + 0.06088994292969546 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1278937582668401, + 0.1536432730285908, + 0.9047451164175919 + ], + "orientation": [ + 0.31018705815149644, + 0.5790954111719413, + -0.5784024010970441, + 0.4836146773207924 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example39/input/input.png b/Semantic/select_chemistry_tube_semantic/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..26ca795f57fc3337bd988e3fe39d0e928f493fcb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee52e72b5a2376b6e109ba26d60ad357b8d84aabc6e6569dc316a182cd5876b0 +size 702742 diff --git a/Semantic/select_chemistry_tube_semantic/example39/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..de4fa9d25ffc07401116e01007f0215d729787a0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:661d7c8c37547af77bd758f1ec709a8aeb1c6c92ab0959a9bf2120593b94fee5 +size 616283 diff --git a/Semantic/select_chemistry_tube_semantic/example39/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..61e96af42f32a19f5f2f1fc40dbef01078f3cabe --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example39/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution to test the protein content of a sample using the Biuret test. I need the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example39/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example39/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/Semantic/select_chemistry_tube_semantic/example4/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9db182d2e4d6b82aa6eafcbb221c832382e8bb33 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example4/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.1257562302192763e-10, + 1.8612345498634026e-10, + -8.468056495313513e-07 + ], + "orientation": [ + 0.9999999999999991, + -2.2976953054591594e-08, + 2.0694669583310776e-08, + -6.135133576591433e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.13651513406300922, + 0.14942756126970755, + 0.7599988321432906 + ], + "orientation": [ + 0.9999999996894435, + 4.3473785717757724e-08, + -1.6837179668595158e-08, + -2.4922107042200485e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.030997352010839807, + 0.19880352071449614, + 0.7591074363537081 + ], + "orientation": [ + 0.9997489694984023, + -0.003732054868749022, + -0.000962206839729635, + -0.022071336872456156 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.09699864983528647, + 0.2208819356899207, + 0.9145591984761925 + ], + "orientation": [ + 0.3293097815891807, + -0.22041453003996345, + 0.47733258402650297, + -0.7842997557844374 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.13654198889344085, + 0.19963731050028516, + 0.7612335870521304 + ], + "orientation": [ + 0.9992399165816384, + 0.0013060960719812288, + -0.005422377821183328, + -0.03858083775314765 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.13651258692116455, + 0.24943210600885943, + 0.8582162742178998 + ], + "orientation": [ + 0.9999997355386481, + -0.0007269609418854142, + 9.222995388125942e-06, + -1.9114340148842463e-05 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example4/input/input.png b/Semantic/select_chemistry_tube_semantic/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3154fe8a387b11e1f971e3f600f78057e4bdfc33 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:759d177e029de933ba36aaa78c8e943c8fb93795e7c6ed84973f667d88acd257 +size 692025 diff --git a/Semantic/select_chemistry_tube_semantic/example4/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..506e95157c2bdc3e943d3a0d3ed381d60d10c9c5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2d41a2a67d13fa5d76acc4381a2ccaf8729ad64d73114f4b7e4cb5727a346bf +size 608025 diff --git a/Semantic/select_chemistry_tube_semantic/example4/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..398ac9a6e177dd481cdb2308ca66e05cc10a51a2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example4/input/instruction.txt @@ -0,0 +1 @@ + Im setting up an experiment to demonstrate the displacement of metals in the reactivity series. Ill need the CuSO4 for this. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example4/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example4/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/Semantic/select_chemistry_tube_semantic/example40/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6c291e616e1b211dc6f9920511563e969ed5f985 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example40/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.693499952307531e-10, + 4.6345228783114097e-10, + -8.470953451230272e-07 + ], + "orientation": [ + 0.9999999999999989, + -1.4831413949202392e-08, + -1.2289334713812384e-09, + 9.021831838627592e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.007732112521882028, + 0.09676337990684786, + 0.7599988360204887 + ], + "orientation": [ + 0.999999999760416, + 9.849018702947789e-08, + -1.656777059563691e-08, + 2.188965930315534e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.07228526167381402, + 0.04676573926385895, + 0.7592158855300788 + ], + "orientation": [ + 0.999999519946492, + -0.0006190718285949144, + 0.0007579733807244336, + 4.8303318961244815e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.03889757108584313, + 0.1042279716034262, + 0.8581804510260556 + ], + "orientation": [ + 0.8312067532710516, + -0.0004429524097968154, + 2.53237139051149e-05, + 0.5559632510053787 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.15828358815179508, + 0.14672753177701367, + 0.7735972879190287 + ], + "orientation": [ + 0.993576122474704, + 0.002715574523212468, + -0.0054753272666074335, + -0.113000598646489 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.21661324964047673, + 0.21224841412992063, + 0.855127506295396 + ], + "orientation": [ + 0.9282421253390091, + 0.0587138245148229, + 0.3379603701296502, + 0.14388200644552948 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.006175046584956725, + 0.0475585250950473, + 0.7593367560476381 + ], + "orientation": [ + 0.9952694221159308, + 0.014806439549243882, + -0.016112650761519017, + -0.09465690272945015 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.0075073777453625755, + 0.07212654932991965, + 0.8761069608001746 + ], + "orientation": [ + 0.45342639510202826, + 0.8831101340920914, + 0.004474524343363444, + -0.12041998970490145 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example40/input/input.png b/Semantic/select_chemistry_tube_semantic/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ddbd30acf076f864738131260515b989add7557a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d131ad5452fde406bd42ad7cc34845fe97405755cb23bb04b7a523ef9bb2ef2 +size 679886 diff --git a/Semantic/select_chemistry_tube_semantic/example40/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..25430218f14657a5ca5c1aebfb497cb4c6cd0ce9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05f0ddf8e37e8663d7f4f3efa5265e3ac996ca023d191ab4c3810ac75b7f6b4e +size 592733 diff --git a/Semantic/select_chemistry_tube_semantic/example40/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d043d79b363c70f29b928880b921231dd9cd3a16 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example40/input/instruction.txt @@ -0,0 +1 @@ + We are analyzing the absorbance spectrum of CuCl2. Please provide me with the CuCl2 solution.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example40/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example40/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/Semantic/select_chemistry_tube_semantic/example41/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..68c9cd8fec0fc3b6ef10e401038c4d610173da5a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example41/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.5085552700421153e-10, + 8.964434712592884e-10, + -8.468699485064842e-07 + ], + "orientation": [ + 1.0, + -4.946024895007864e-09, + -6.319182825612302e-09, + -1.2460388395436913e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.04004119415496495, + 0.0317264698368855, + 0.7599988528379727 + ], + "orientation": [ + 0.9999999996117125, + 4.551465087095029e-08, + 1.262211321930385e-08, + -2.786703112029158e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.2075549862890468, + 0.08110717024426627, + 0.759107439287515 + ], + "orientation": [ + 0.9997489694968982, + -0.003732056293018025, + -0.000962205149714678, + -0.02207133677345307 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.2450286550779073, + 0.1299068501708982, + 0.8710372225348333 + ], + "orientation": [ + 0.9392707353361999, + 0.11675919687245782, + -0.20349197251114337, + -0.2504571676159766 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.040015860815170626, + 0.08194097330191484, + 0.7612330790454178 + ], + "orientation": [ + 0.9992402108579511, + 0.0013059037077966205, + -0.005413735229556144, + -0.03857443571756832 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.040047569253368616, + 0.13173500259622942, + 0.8582163016432699 + ], + "orientation": [ + 0.9999997351753341, + -0.0007275182192189559, + -2.2921272524261895e-06, + -1.900653720030525e-05 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example41/input/input.png b/Semantic/select_chemistry_tube_semantic/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b94e4df7a4c9606a7932bc7c8a27353cf7a67898 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e06b7888401f0529fce931e9aa5e8e798d55f001f7b5d5c4cbe029db13b1f4c6 +size 703681 diff --git a/Semantic/select_chemistry_tube_semantic/example41/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..04e5f8fc31183ea6ce911d7923b2b188f2b61e69 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77a86ad3a7fb3972cbd161d5b13ada34367a039bcbf21b9077025a3de664e2b9 +size 622540 diff --git a/Semantic/select_chemistry_tube_semantic/example41/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..551635b6cf95cb4dd54738572d3706aac55313fb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example41/input/instruction.txt @@ -0,0 +1 @@ + Im going to test the dehydration and rehydration of a hydrated salt. Please give me the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example41/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example42/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..156e962ddc7136ee9aa863f8274b7453b530d8dc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example42/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.142022843758748e-10, + 3.580631683360305e-11, + -8.469800515526932e-07 + ], + "orientation": [ + 0.9999999999999992, + -5.024452496586736e-10, + -1.2701215161208794e-08, + -4.001277991982244e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.08241139553872961, + 0.00359784309662333, + 0.7599988349367985 + ], + "orientation": [ + 0.9999999997739665, + 4.9317255519034456e-08, + -4.472570008453128e-09, + -2.1261840847845035e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.24992333869094358, + 0.05297412017385316, + 0.759107436808981 + ], + "orientation": [ + 0.9997489694930335, + -0.003732056451825281, + -0.0009622065472253973, + -0.022071336860710306 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.3978185491463787, + 0.11066030593536755, + 0.902194762593823 + ], + "orientation": [ + 0.3310309211456579, + 0.4239861699417989, + -0.36145430622369146, + -0.7615806204571456 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.002658958842520159, + -0.045968366356149884, + 0.7593429712928019 + ], + "orientation": [ + 0.9985956324541327, + 0.013801776339065238, + -0.005682735912839753, + 0.05083286659202543 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.04480547999694432, + -0.012806374816271334, + 0.9383688324988163 + ], + "orientation": [ + 0.39676940043513115, + 0.6830138557352414, + 0.5773566539425836, + -0.20670125761651537 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example42/input/input.png b/Semantic/select_chemistry_tube_semantic/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6dea8a91363c1b44761dacc9a379a465cef0a1f7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dbc38d41fe4e83d463cde0dce9e1df3a37bec685e62dae511f10e15d1188810 +size 700119 diff --git a/Semantic/select_chemistry_tube_semantic/example42/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fbddcecdfd46cd1ecebdcbc2af7a315c05918c45 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e59391cec2f4bd64bb300cff9b266d4bafd13b97f9157443bb1c091fef86da6d +size 619564 diff --git a/Semantic/select_chemistry_tube_semantic/example42/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9e530f396e9888e46c8a38011f6bf35482b0fd8d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example42/input/instruction.txt @@ -0,0 +1 @@ + Im about to perform a colorimetric assay that uses FeCl3 as a reagent. Please provide the FeCl3 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example42/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example42/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/Semantic/select_chemistry_tube_semantic/example43/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a804ca195da519558e06b36bcbaa6537e40c5c63 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example43/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.8242307396013113e-10, + -2.4030305409428168e-11, + -8.471842798298164e-07 + ], + "orientation": [ + 0.9999999999999991, + -1.326923283438099e-08, + -2.604290657581914e-08, + -2.4468964194607087e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.1682742091596334, + 0.08561695659502457, + 0.7599988239199751 + ], + "orientation": [ + 0.9999999994173174, + 6.454737806396312e-08, + -5.0055724071775064e-08, + -3.413735669597802e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.16823481649977515, + 0.13582618171784103, + 0.7612370137111523 + ], + "orientation": [ + 0.9992396572959904, + 0.001307651772217005, + -0.005478048473849018, + -0.03857963606297917 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.16826860087057302, + 0.185622694324174, + 0.8582164839467665 + ], + "orientation": [ + 0.999999729349237, + -0.0007354028171622192, + 8.867698226392174e-06, + -2.0137383279799687e-05 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.0023238242856164597, + 0.05830363144642392, + 0.7843674162109676 + ], + "orientation": [ + 0.9389169370508987, + 0.15580684943525397, + 0.013170605597137525, + -0.30657094796510703 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.3732866347752958, + 0.10113793608673177, + 0.8942046369890964 + ], + "orientation": [ + -0.25465878316386137, + 0.6650584093877552, + -0.29204768890304456, + 0.6383998462300263 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.33579510098519716, + 0.1349975958445059, + 0.7591061472906043 + ], + "orientation": [ + 0.9997492162404672, + -0.003718375457126041, + -0.0009168094366649145, + -0.022064400535474718 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.5101578469863868, + 0.20669775965858983, + 0.8878274415191633 + ], + "orientation": [ + -0.18610705927202906, + -0.10130705762530119, + 0.7390371592966684, + -0.6394725324383607 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example43/input/input.png b/Semantic/select_chemistry_tube_semantic/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f9d2908aa2707c96e212dc493600354a2e1744f5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a127d2d864e12519eb078736d6737cd196f1c3cc5c58947194284e3c0da8960b +size 729859 diff --git a/Semantic/select_chemistry_tube_semantic/example43/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9808da71b225f0875c215b6aa6fce8213eacb884 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1c12b563f27489bbe58336514546c98b91f646baaf8cf84c4cfcf246cb637bf +size 642838 diff --git a/Semantic/select_chemistry_tube_semantic/example43/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b3cc18e115a26c6a406a29f5bf08022dac5a21b8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example43/input/instruction.txt @@ -0,0 +1 @@ + Im going to test the reaction of various metal salts with a strong base. Please pass me the CuSO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example43/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example43/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/Semantic/select_chemistry_tube_semantic/example44/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..72e82d5ab0cb5b59096a114c77ab1edc9a2624a8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example44/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.571078764256645e-10, + -3.992378109035161e-10, + -8.463735598115998e-07 + ], + "orientation": [ + 0.9999999999999993, + -6.486793688991341e-09, + -1.1199442305675725e-08, + -4.84988023356095e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.07395537658236759, + 0.04277752765300408, + 0.7599988257243986 + ], + "orientation": [ + 0.9999999999533619, + 1.4605202771862789e-08, + -7.684886379394086e-09, + -9.657941278767782e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.0740941898208245, + -0.006977384864415078, + 0.7634790994777928 + ], + "orientation": [ + 0.9988643897868716, + 0.0014605532524975926, + -0.0039228754702501645, + -0.04745954748984976 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.13762465829292447, + 0.05139645564416105, + 0.9494449020444213 + ], + "orientation": [ + -0.25493517274414856, + -0.2446202583384475, + 0.14099170995892588, + -0.9248190767016001 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.09171253993382422, + -0.00649818654972566, + 0.7767216274967256 + ], + "orientation": [ + 0.9962232587598866, + 0.00698211285285689, + -0.013647539723271295, + -0.08546469133766962 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.025007446032844768, + 0.1923906403456898, + 1.3439657807058494 + ], + "orientation": [ + 0.26164091576968695, + 0.8422816113195477, + -0.27234352038927007, + -0.38462283516468987 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example44/input/input.png b/Semantic/select_chemistry_tube_semantic/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..98265db7f63a8e3ff1619e7d052957748b362155 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4185bd74104a256fe8740cc9aa8e05cc26bf5186a1e5ab6cde97d98c00dd5b67 +size 709591 diff --git a/Semantic/select_chemistry_tube_semantic/example44/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8a2ed3801af55ad91548b4ff3912e90250d787f2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a954089f8c3c647ecd0f4f578329ad486b833eba871e7b3ef76e9885c9d95a3a +size 627823 diff --git a/Semantic/select_chemistry_tube_semantic/example44/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..50565dd4d810339a82baf1201328b7c83be7107f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example44/input/instruction.txt @@ -0,0 +1 @@ + I need to create a solution to demonstrate the color changes of a transition metal complex. Please provide me the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example44/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example45/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f55e83d32950e291237d029285834fe003f476a8 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example45/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.11565595360124e-10, + -9.268766855247029e-11, + -8.463958193305925e-07 + ], + "orientation": [ + 0.9999999999999993, + -1.5907060707546444e-08, + 6.938349746724276e-09, + 2.2297472170978017e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.04579293729987969, + 0.1045055034305446, + 0.7599988411010858 + ], + "orientation": [ + 0.9999999999950389, + 5.120620657627672e-08, + 4.5499960432598524e-08, + 3.1494626921050014e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.045782045142105376, + 0.1547264074006951, + 0.7618523605379167 + ], + "orientation": [ + 0.9991518372131034, + 0.0013426254726700835, + -0.004476928698113496, + -0.0409116201091152 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.04579077721073862, + 0.204510178480648, + 0.8581974389002947 + ], + "orientation": [ + 0.999999999971193, + 3.288774045901503e-07, + -7.491800784226475e-06, + 1.1738966050578333e-06 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.03399375221115423, + 0.05871456021758465, + 0.7695620683467913 + ], + "orientation": [ + 0.9996362952606056, + 0.01639370425766485, + -0.02093772070694579, + 0.004487260852760091 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.013695085479704902, + 0.0956099622606492, + 0.8887392089903501 + ], + "orientation": [ + 0.12317713120959418, + 0.743487194699179, + -0.3588743922591246, + 0.5506935229744064 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example45/input/input.png b/Semantic/select_chemistry_tube_semantic/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eea93d5178b59656137a343fb56b953ee4e35ce9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b4a37900b5321e0b18562e5b7e0cd36bf24c16f703f6936cce664a37c769e89 +size 720194 diff --git a/Semantic/select_chemistry_tube_semantic/example45/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..215a48a2c646c8989fc6bb0115443cfa5a4c16d0 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab5a8de9ea4633d506d68ae82098de2dce4a434224421da799a30fd53f1e9254 +size 637381 diff --git a/Semantic/select_chemistry_tube_semantic/example45/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6dab29678457a28eb8686b1cd06362b06b7402e5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example45/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution for a copper electroplating experiment. Please provide me with the CuSO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example45/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example46/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2bc35e5a568275c638e2e47951219a080ba1c618 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example46/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.811754505911872e-10, + -2.2790819840652724e-10, + -8.468654257557004e-07 + ], + "orientation": [ + 0.9999999999999994, + -1.412790960814314e-08, + 1.5912697715065655e-08, + -1.5013418424474006e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.1044238549386408, + 0.09161891804036731, + 0.7599987989626235 + ], + "orientation": [ + 0.9999999997969539, + -1.0536015378305608e-07, + 1.2499159223690846e-08, + -2.0151479897319705e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.026349017738475984, + 0.14156671326038173, + 0.7594047054471841 + ], + "orientation": [ + 0.9984183916128043, + 0.0006145603847057798, + -0.05167857471248968, + -0.02212831942376054 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.023591254193351625, + 0.19492433741466667, + 0.8582645071200999 + ], + "orientation": [ + 0.9977408000316216, + -0.00040130544522906495, + 0.0009311242087310667, + -0.06717341672050305 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06308853681081096, + 0.14099662162339435, + 0.7591074407151069 + ], + "orientation": [ + 0.9997489694923994, + -0.0037320559087363958, + -0.0009622077219955366, + -0.022071336930049264 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.09566056570497398, + 0.14595561179400585, + 0.8838578288926948 + ], + "orientation": [ + 0.7721258759670125, + 0.11457837737252384, + 0.442003727086297, + 0.4419571612075955 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example46/input/input.png b/Semantic/select_chemistry_tube_semantic/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9b618c777a6950ce61504b3315b9166910d9682b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7035c0603b49dea4fd2b74b759fd54d4185c3beacca519e5083818bb27975eab +size 717653 diff --git a/Semantic/select_chemistry_tube_semantic/example46/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..715d5fec857d0570a46571afc7bab29cc2bc3d1e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50088956b00791895b8c5cb4f03098e75a94c1902557c736fb859987befa1ce8 +size 634784 diff --git a/Semantic/select_chemistry_tube_semantic/example46/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..91a5d1051fdfb094707507bb63aa51a0fb32f1b3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example46/input/instruction.txt @@ -0,0 +1 @@ + I need to perform a colorimetric assay that utilizes FeCl3. Please give me the FeCl3 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example46/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example47/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..00cba8b5a785014db4627f4efa9d0f4ac6838f97 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example47/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.2288242199358673e-11, + 1.1158009935371966e-10, + -8.468464324051298e-07 + ], + "orientation": [ + 0.9999999999999991, + -2.5748729283366062e-08, + -1.4345599938344263e-08, + -1.2441344606332038e-13 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.09337905293560275, + 0.16770109296681665, + 0.7599988322135202 + ], + "orientation": [ + 0.9999999999941712, + 4.353034923358183e-08, + -5.450995478908774e-08, + -3.4137689434628827e-06 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.013380516150653112, + 0.21769938865696167, + 0.7592158758052533 + ], + "orientation": [ + 0.9999995199456594, + -0.0006190684267938922, + 0.0007579772418789057, + 4.830357030902524e-05 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.01292392386207541, + 0.26849262993428546, + 0.8582319585080559 + ], + "orientation": [ + 0.9998924797182571, + -9.091469230567553e-06, + -0.0005742267538131907, + 0.014652616962717744 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.09348004544268484, + 0.11793729699691864, + 0.7628889871028389 + ], + "orientation": [ + 0.9989624604406097, + 0.0014416658209216676, + -0.004812530407809895, + -0.04526327187884031 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.09895101168575639, + 0.17240009795684744, + 0.8581566696135876 + ], + "orientation": [ + 0.9849307035853653, + -0.0006235987827798066, + 0.0007569445068181363, + -0.1729466602580343 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example47/input/input.png b/Semantic/select_chemistry_tube_semantic/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3ebda0c7fc694f876fc0ac8b10315b56f4ec12ce --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db80411ed6745db9515534e81c408415d092a8d2cdd3aa3db2a193b9dab0d139 +size 698654 diff --git a/Semantic/select_chemistry_tube_semantic/example47/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f720ca05860349685678717e2a0a5824715a5596 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3280d3051b9d4030fd61203043c52285fd58ccadeceb4f7b6e6d3903ccff6b06 +size 615447 diff --git a/Semantic/select_chemistry_tube_semantic/example47/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0741be23aa4ee5041dcadc3f203f510eb419c95 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example47/input/instruction.txt @@ -0,0 +1 @@ + Im setting up a demonstration of a Lewis acid catalyst. Please grab the FeCl3.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example47/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example47/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/Semantic/select_chemistry_tube_semantic/example48/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2ea46cacb1c5e2ca4bbaf0254ae9bc04e7686e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example48/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.1319170862356936e-10, + 6.110987872990976e-10, + -8.469887657748935e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.4197369802070013e-08, + -5.16184017551442e-09, + 9.293753417217713e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.03354019049127678, + 0.15750429570627128, + 0.7599988404682982 + ], + "orientation": [ + 0.9999999997851768, + 4.741977534202733e-08, + -2.907928296542816e-08, + 2.072784921120399e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.11144618834734005, + 0.20744375924713196, + 0.7591858410628196 + ], + "orientation": [ + 0.998381885576565, + 0.0007913765687892603, + -0.051004193767790904, + -0.02513078776733351 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.11353751508858494, + 0.2575095253241805, + 0.8582123622798999 + ], + "orientation": [ + 0.9999999401724375, + -0.00032990276001295413, + -0.00010168738062418346, + 2.1885333319444845e-05 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.046473569218243756, + 0.10750579365185896, + 0.7592158824318416 + ], + "orientation": [ + 0.999999519946007, + -0.0006190709676126238, + 0.000757974718696185, + 4.830340567324651e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.008219370823331906, + 0.16318035464957786, + 0.860175387663547 + ], + "orientation": [ + 0.8666800740582342, + -0.01656053816253437, + -0.029910367009045487, + 0.49769143829441653 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1324696922837182, + 0.2074685956612641, + 0.7734011578958072 + ], + "orientation": [ + 0.9938131637196567, + 0.0029013291835506467, + -0.005547641462994034, + -0.11088823914506744 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.30674705489713194, + 0.23109703719665006, + 0.8949759750848235 + ], + "orientation": [ + -0.31797292719711495, + -0.061165189904868016, + 0.8689442966285403, + -0.3742831100521783 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example48/input/input.png b/Semantic/select_chemistry_tube_semantic/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..34666d81e789a3faaf063d35f45b9a1b63f8aa5f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2383edc6825f16849a8301dda217ff64b623ea419855c45a4ddf146dfe119b44 +size 735354 diff --git a/Semantic/select_chemistry_tube_semantic/example48/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0b66c1b29892dea18b9735e11aa3fcea4a894fb9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8fb1f3cfa09e3b354350a8f627cdba0a97effe82a249dfb053d968273add098 +size 648350 diff --git a/Semantic/select_chemistry_tube_semantic/example48/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1086cdf6f8cfce7e1be5bc8da7aed2d8cf4ff59 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example48/input/instruction.txt @@ -0,0 +1 @@ + I need to create a copper(II) chloride solution for an electrolysis experiment. Please provide the CuCl2. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example48/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example48/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/Semantic/select_chemistry_tube_semantic/example49/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1d40f4386da6e83e3fa9b99c6ad67fb1cba43648 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example49/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.866290804247941e-10, + 7.414456784991657e-10, + -8.46539453070029e-07 + ], + "orientation": [ + 0.9999999999999992, + -1.85359298950119e-08, + -9.260060781335451e-09, + -3.5831071064667686e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.05957673549204017, + 0.12150067804845088, + 0.7599988337901377 + ], + "orientation": [ + 0.9999999992630623, + 6.524052088733482e-08, + -2.0658676421467053e-08, + 3.839104499614844e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.22668353059113935, + 0.0708060520542151, + 0.7591298449793308 + ], + "orientation": [ + 0.9997066793161075, + -0.003947041361758533, + -0.0026484612105740096, + -0.023747880925787494 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.548942975159515, + 0.031134052416895097, + 1.2693468476266243 + ], + "orientation": [ + 0.2565948123012377, + 0.6850696378008173, + -0.5150280415077122, + -0.4467491579446782 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.10643143183318828, + 0.1714679710660483, + 0.7731747134288178 + ], + "orientation": [ + 0.9939749481966134, + 0.003096192172682266, + -0.00564344361565581, + -0.10941831426103134 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.16889703830420652, + 0.22412871324488576, + 0.9275109780903046 + ], + "orientation": [ + -0.03860133718168492, + -0.6833808865196005, + 0.18779003925713622, + -0.7044397787343313 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example49/input/input.png b/Semantic/select_chemistry_tube_semantic/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f3a243c8786d980731cc25b40f904cde96c366f9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06a38818682ba8c0b9d3a168cca8869d93e5de3f9f19b5941fa0f9e0ef37f55a +size 725607 diff --git a/Semantic/select_chemistry_tube_semantic/example49/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9aaed08b33a1608716251a7bb442e005a4a59517 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5afbb48d72ee3a03e9e4d71e055aa68f56d091077eed9f259e28b47263e0438d +size 643389 diff --git a/Semantic/select_chemistry_tube_semantic/example49/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7826090074d95e2c494ce89f925663975783705e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example49/input/instruction.txt @@ -0,0 +1 @@ + I am preparing an electrolyte solution for a copper electroplating experiment. Please hand me the CuSO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example49/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example49/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/Semantic/select_chemistry_tube_semantic/example5/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..145263dd479b68ba833f6cc5e00460a4322faeeb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example5/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.9307689023660575e-10, + 5.791122289223757e-10, + -8.467557666021086e-07 + ], + "orientation": [ + 0.9999999999999992, + -2.9037013786112967e-09, + 1.247343674432398e-08, + -5.5284123352953654e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.08295498389301216, + 0.018900219570208487, + 0.7599988432368328 + ], + "orientation": [ + 0.999999999693593, + 6.864399164134143e-08, + -2.378557179241008e-08, + -2.475499526206202e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08455997778286113, + 0.06827780660214282, + 0.7591074431067715 + ], + "orientation": [ + 0.9997489694921131, + -0.003732056746059324, + -0.0009622064724655292, + -0.022071336855926056 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.12200608954470257, + 0.11704556087542696, + 0.8709747061915737 + ], + "orientation": [ + 0.9387302504335796, + 0.11023561435268645, + -0.20744377982143078, + -0.2521918009424416 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.0828304179824475, + -0.030861533999431114, + 0.762882124527164 + ], + "orientation": [ + 0.9989659588921058, + 0.0014383948960970715, + -0.00469320268090929, + -0.045198648691025016 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.12209988563367338, + 0.04441057125580281, + 0.8919386123970849 + ], + "orientation": [ + 0.37307241018623705, + 0.028915180297356322, + 0.12651670852154198, + 0.9186807996094604 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example5/input/input.png b/Semantic/select_chemistry_tube_semantic/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c5466745848237f60f74fd0194ec67d68ae23a4c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8736c7118a8efcc1106efd2418e24e319bea4ef83bded151c28942ef80051b02 +size 661241 diff --git a/Semantic/select_chemistry_tube_semantic/example5/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6f7dc014062b1920ff6bdc48c0def90bc34f1cca --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e76edfcdebb9e854cc7980fb075af5504797afba2e057170ba292683f3a46f15 +size 579955 diff --git a/Semantic/select_chemistry_tube_semantic/example5/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9891999692ffaad68aea8be573d69042643beeaa --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example5/input/instruction.txt @@ -0,0 +1 @@ + I need to prepare a solution for a redox titration. Please hand me the KMnO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example5/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example5/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/Semantic/select_chemistry_tube_semantic/example50/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4d9a77863c80b57c14e5b2aba2fe3177e11f7239 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example50/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.2309940323215644e-11, + -7.347306567674773e-11, + -8.467849440883739e-07 + ], + "orientation": [ + 0.9999999999999989, + -1.4509492740388572e-08, + -1.724822830497929e-09, + 9.905276915413159e-12 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.01126154654922012, + 0.09456059188693951, + 0.7599988298109551 + ], + "orientation": [ + 0.999999999999956, + -9.462155519891522e-08, + -1.263094923569796e-09, + -2.8078177711452605e-07 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.09003726048174888, + 0.044598103915510744, + 0.7592158882469497 + ], + "orientation": [ + 0.9984434801809233, + 0.0012089352006027865, + -0.04452222550820714, + -0.033569730348676136 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.04807542255399252, + 0.10868443188839846, + 0.928988228900865 + ], + "orientation": [ + 0.00046436193821956546, + -0.8912018898831315, + 0.42967252034827114, + -0.14539773414427623 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.06873635583026759, + 0.14456144254616093, + 0.7592158831536838 + ], + "orientation": [ + 0.9999995199466014, + -0.0006190698238323632, + 0.0007579748678750545, + 4.83034171938812e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.06889600225107526, + 0.19577327679576167, + 0.8582323217775452 + ], + "orientation": [ + 0.9997805850140423, + -0.0002251617772988317, + 0.0005270992839412014, + -0.02093927643209891 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example50/input/input.png b/Semantic/select_chemistry_tube_semantic/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..57ddd6a78981ab247a766f52e54bf9248e77840b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83bb2b5142672b8c597c7537ca86fa52308f747550affa52db5e3ff25f83d65f +size 718491 diff --git a/Semantic/select_chemistry_tube_semantic/example50/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f65f44a3d1b68cb0000dbdcf5831a12f1ca407dc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3c1b23d95c2b169c42b125ba76b6e8a7388d17c0ac435588544b380d8ff829b +size 636099 diff --git a/Semantic/select_chemistry_tube_semantic/example50/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e2ead279a99df7ca141c4ff7277ebd67afbb51b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example50/input/instruction.txt @@ -0,0 +1 @@ + I am conducting an experiment that requires a strong oxidizing agent. Please provide me with the potassium permanganate (KMnO4).` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example50/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example50/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/Semantic/select_chemistry_tube_semantic/example51/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f72210883a1dfda0bcf69a967660086a559d8d0c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example51/env_config/env_config.json @@ -0,0 +1,137 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9158116647707248e-10, + 1.630719254414044e-10, + -8.466020980949711e-07 + ], + "orientation": [ + 0.9999999999999988, + -2.7430317876700144e-08, + 2.0824928896056157e-08, + 2.0373554862634462e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.13680402675061554, + 0.17915728956212626, + 0.759998830102696 + ], + "orientation": [ + 0.9999999999949598, + 4.2345295919711456e-08, + 5.921440552221533e-08, + 3.174025969809018e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.05888055205248245, + 0.22909331489218904, + 0.7591806601049605 + ], + "orientation": [ + 0.9983856480050737, + 0.0007822468096054413, + -0.0509187862902617, + -0.02515478384214887 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.05680159000536603, + 0.27916227606975424, + 0.8582150345512661 + ], + "orientation": [ + 0.9999999101795828, + -0.00040886372946622747, + -0.00011165486887688328, + 2.1136885441828517e-06 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.13656262519583612, + 0.13081569616348168, + 0.7633402269041206 + ], + "orientation": [ + 0.9970979978326251, + 0.019344460205805263, + -0.00302355868206064, + -0.07356787797954284 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.16576815794252736, + 0.16539568650362108, + 0.9087750473419319 + ], + "orientation": [ + 0.1507868112414414, + 0.9209941176726699, + -0.23731764641719766, + 0.2696544223019129 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Take out the CuCl2 solution in a conversation" + ], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example51/input/input.png b/Semantic/select_chemistry_tube_semantic/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..682fa19d7ccb815c1f43547e13df9c2565b77c19 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5cfe76908e8c2deefa2bbdbf21ba43d7487a03aec856804e44e95fdb59ab211 +size 738118 diff --git a/Semantic/select_chemistry_tube_semantic/example51/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..518e915ed8921622262da6d60b96719715d6f7c2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252cfebcc659621db0a2fe53685b5fcd5ee05cae5d555a1d133a2ef578276c42 +size 653845 diff --git a/Semantic/select_chemistry_tube_semantic/example51/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc62f57d155a8c6f5cb4ad915a1dbd66a77468b7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example51/input/instruction.txt @@ -0,0 +1 @@ + Im going to synthesize a coordination complex using copper(II) ions. Please get the CuCl2 for me. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example51/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example52/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..226d867f777a0c4bb656537ebb9083c49241fb32 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example52/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.387650984241005e-10, + -6.328970818268148e-10, + -8.461218957024541e-07 + ], + "orientation": [ + 0.9999999999999991, + -2.9832452086491345e-08, + -1.023193936254696e-09, + -3.010646909420308e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.006737266526574549, + 0.197041636201487, + 0.7599988287115144 + ], + "orientation": [ + 0.999999999928312, + 8.629957416563658e-08, + 2.4710849933469745e-08, + 1.1973676110465434e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.1592730492113746, + 0.24700596691948593, + 0.7734016995901144 + ], + "orientation": [ + 0.9938149978195437, + 0.002900882324978479, + -0.005545041641460187, + -0.11087194191439768 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.20399433997932376, + 0.3438101505623606, + 0.8351049073569143 + ], + "orientation": [ + 0.05101566737241416, + 0.21422837218243312, + 0.7304654806728169, + -0.6464702528191401 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.006144296282933898, + 0.1479498688024073, + 0.7606025123362732 + ], + "orientation": [ + 0.9995802553463293, + -0.027098315676198782, + -0.008112315769259745, + -0.006259771732212035 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.06383510471485637, + 0.1721559051704573, + 0.9347892198451802 + ], + "orientation": [ + 0.2769297554823777, + 0.4742463763713682, + 0.7404635719347973, + -0.3874454589547512 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example52/input/input.png b/Semantic/select_chemistry_tube_semantic/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..34dea9f9119d19fcfca08a15c6fb429e44520dec --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c5733258423163d2ea0c0be9c2fca2ebf30fbde015872c53a00d31521a81080 +size 704121 diff --git a/Semantic/select_chemistry_tube_semantic/example52/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8741c4471158be5dfb22effb4511a388bd1871fc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b8afa7e0456246e87129b016b87f66d343edeca2a6191064f15b4e4c7b37ade +size 619676 diff --git a/Semantic/select_chemistry_tube_semantic/example52/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c5ffa6e800161dc59c392f677ea60d272fef9a3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example52/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution for cleaning glassware. Please give me the potassium permanganate.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example52/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example52/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/Semantic/select_chemistry_tube_semantic/example53/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..649ae170df682b859e127d19cfc8edfbb186028b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example53/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.966451246127907e-10, + 5.290131663860793e-10, + -8.471383835502898e-07 + ], + "orientation": [ + 0.9999999999999997, + -2.5237994764466884e-08, + -1.0634114653867427e-08, + -2.9286967497626884e-12 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.06823965737025317, + 0.16400366952652237, + 0.7599988364147006 + ], + "orientation": [ + 0.9999999999999866, + 9.65138856449961e-08, + -1.1235002337375493e-08, + -1.34872675921257e-07 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.14701524399571073, + 0.11404064051691475, + 0.7592159383738891 + ], + "orientation": [ + 0.9984434512670779, + 0.001208964557279888, + -0.044522631496136146, + -0.03357005080789193 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.10224957800533224, + 0.16553613444121232, + 0.8937076011413608 + ], + "orientation": [ + 0.3216213083730492, + -0.5698413684134808, + -0.7416586372658702, + 0.14759069961888405 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06834121752420652, + 0.11424188807631386, + 0.7628886251541613 + ], + "orientation": [ + 0.9989622828885388, + 0.0014414521396087293, + -0.004807293828643756, + -0.04526775351055569 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.0738547561884812, + 0.168810725779295, + 0.8581421826174506 + ], + "orientation": [ + 0.9845929741057093, + -0.0008990486665813879, + 2.5632179458183304e-05, + -0.1748595619237325 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.011758367934633309, + 0.21400398013250885, + 0.7592158766828426 + ], + "orientation": [ + 0.9999995199456035, + -0.0006190685804002314, + 0.0007579771900506737, + 4.83035670466837e-05 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.0122043405541363, + 0.26487343157570337, + 0.8581999401538905 + ], + "orientation": [ + 0.9998593325303707, + -6.243298951112227e-05, + -1.1365028734107494e-05, + 0.016772332124028882 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example53/input/input.png b/Semantic/select_chemistry_tube_semantic/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ffcff730a27321a109a1dcf2007daa92300dcc3c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c07d34dfedeea003172311c1b3e806603585d761e33bec4be2c4f1ea44cba9a +size 735914 diff --git a/Semantic/select_chemistry_tube_semantic/example53/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7f788110254d4a5286e02980505d995002fa2012 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:103ec1a0cd4df545fa36470abf9d41605d2aef6bf4385a566efc2e8425fbb981 +size 650272 diff --git a/Semantic/select_chemistry_tube_semantic/example53/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..92fb6288aa6c04fc135677ac550f6dc03945819e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example53/input/instruction.txt @@ -0,0 +1 @@ + I need to synthesize a copper-containing coordination compound. Please provide the CuCl2. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example53/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example54/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..40d7ef7e66b4e7dad5bda1a759459866f5cc3eba --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example54/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.52401960664823e-10, + 5.246819675742019e-10, + -8.469477926860794e-07 + ], + "orientation": [ + 0.9999999999999994, + -7.3694428381791575e-09, + -2.9406156514253514e-08, + -1.2842542473912402e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.19121511285322265, + 0.04800015834701486, + 0.7599988250642944 + ], + "orientation": [ + 0.9999999993117374, + 1.5217071416735011e-07, + -2.442267337626105e-08, + -3.7101227470031495e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.19132808482883354, + -0.0017606747973702194, + 0.7628865648256485 + ], + "orientation": [ + 0.9989658381572042, + 0.0014407781508684455, + -0.004765378130693777, + -0.045193688989353054 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.12974111780040298, + 0.05470893681260918, + 0.9662536120206418 + ], + "orientation": [ + 0.21031366986626582, + -0.28481660837025036, + -0.7414375386575499, + 0.5700158209499854 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.3587394157049965, + 0.09738389681676139, + 0.7591061465848844 + ], + "orientation": [ + 0.9997492162361596, + -0.0037183759536426287, + -0.0009168104948421088, + -0.02206440060300858 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.3795519357200343, + 0.16460532937043262, + 0.9083952792840584 + ], + "orientation": [ + -0.012987160688072031, + 0.31381347999159037, + 0.15789231270306875, + -0.9361743699878278 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.025430832273719603, + -0.0015306876638899775, + 0.7776595504987504 + ], + "orientation": [ + 0.9933354089131597, + 0.005179532277282659, + -0.014700176135961834, + -0.11420088732705473 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.029245369353342775, + 0.03502025408052619, + 0.9151484020446982 + ], + "orientation": [ + 0.543660907771665, + -0.40743249805499016, + -0.6375093811771432, + -0.36333643610391725 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example54/input/input.png b/Semantic/select_chemistry_tube_semantic/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0cd5e018bf90d2038aff3197f3000520f5505c16 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01dc6965ef8a0e0afbb11d63c0ec6f9766d5c7bb652eb6af2f2af6a720e79b53 +size 684995 diff --git a/Semantic/select_chemistry_tube_semantic/example54/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0fe8be704fc61a800e16f533c5e4ccff67ede3fe --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:375ee52fecbfc154b7c831da923778f51f46974e53cda580cd4060cda62078ce +size 599455 diff --git a/Semantic/select_chemistry_tube_semantic/example54/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d608caabdce37b5e4754bb3669bf343a1be2daf5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example54/input/instruction.txt @@ -0,0 +1 @@ + Im setting up an experiment to demonstrate the oxidative properties of iron(III) chloride. Please hand me the FeCl3. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example54/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example55/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..faf7feb0a16165457a23e971ae65ccb187ff98f6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example55/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.887282143619907e-10, + -5.405144492968114e-10, + -8.469599242806368e-07 + ], + "orientation": [ + 0.9999999999999994, + -1.1951638291404917e-08, + -1.3143323531324734e-08, + 1.8432271909930214e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.08526898058298683, + 0.07809734842106693, + 0.7599988324473735 + ], + "orientation": [ + 0.9999999999967596, + 1.3016452722432034e-09, + 7.266631068497652e-08, + 2.5449633336056943e-06 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.08047165007800382, + 0.028595742216507538, + 0.7775972235835714 + ], + "orientation": [ + 0.9933042557453081, + 0.00526353070392725, + -0.013363140363918054, + -0.11463148451627041 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.03410246746727047, + 0.2184605470997074, + 1.3464893728588585 + ], + "orientation": [ + 0.32255243615791007, + 0.9211285616960472, + -0.21373343007842893, + 0.04242781662161205 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.25238395588706186, + 0.02740863315923633, + 0.7591291903232503 + ], + "orientation": [ + 0.9997072285460743, + -0.0039185326979769885, + -0.002637935810724361, + -0.023730646617381976 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.23772338839820656, + 0.11295321027545471, + 1.0209011616550667 + ], + "orientation": [ + 0.8234733387779802, + -0.2923923473499723, + 0.18517986065720068, + -0.4495628929749401 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08528099906770827, + 0.12831619684104312, + 0.7618520409032192 + ], + "orientation": [ + 0.9991519531269495, + 0.0013424731968460293, + -0.0044710577705766455, + -0.04090943620643871 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.0852741667273988, + 0.17810024833299723, + 0.8581973829375914 + ], + "orientation": [ + 0.9999999999782645, + 2.9765432820753265e-07, + 6.100853616196609e-06, + -2.482053722161567e-06 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example55/input/input.png b/Semantic/select_chemistry_tube_semantic/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..696e535c7364cc8c95064ff75baf66ccfc48c167 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4d9632c165f40558ef55832fc233de705b7f58c1cd0c6a8000e35eb5b9f9816 +size 678432 diff --git a/Semantic/select_chemistry_tube_semantic/example55/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c6e86efb6bd1ca5c3e8936b89d4e9e2ce0b4092b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7160455239f18aaadf616267c7c3511f405eba54690af23959b6c08b469521f6 +size 591517 diff --git a/Semantic/select_chemistry_tube_semantic/example55/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1d81077b8802478e74a0657ca4a0425637632e4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example55/input/instruction.txt @@ -0,0 +1 @@ + I want to observe the reaction between FeCl3 and potassium ferrocyanide. Ill need the FeCl3 solution.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example55/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example56/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..28e68a2af868d071a315ce3c0d5b24d47cd80c49 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example56/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.6010957240977164e-10, + 4.302000410369533e-10, + -8.471103045964548e-07 + ], + "orientation": [ + 0.9999999999999986, + -2.7596908497491758e-08, + 2.438410499112951e-08, + 1.4471166395034328e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.1591097115599033, + 0.17961182286568794, + 0.7599988194040878 + ], + "orientation": [ + 0.9999999999807266, + 5.497687572336031e-08, + 2.4574409565871842e-08, + -6.208338676498732e-06 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.325215699423686, + 0.22959996033637392, + 0.7726507478046765 + ], + "orientation": [ + 0.9942688951517018, + 0.0030960088018121322, + -0.006808972445985648, + -0.10664622242509247 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.457342714088525, + 0.2804680131395968, + 0.9254836445402316 + ], + "orientation": [ + 0.03017640981464288, + 0.6749873665860686, + 0.6128505835367623, + 0.40975065771582597 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.008417656407528545, + 0.22899009274649598, + 0.7591050327568134 + ], + "orientation": [ + 0.9997487259947032, + -0.003747375638126086, + -0.0008953257657485295, + -0.022082582266709564 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.044632425894213866, + 0.3008117293198141, + 0.8843827789882622 + ], + "orientation": [ + 0.824430706029087, + 0.12312732186779755, + -0.4942795071109583, + 0.24666058139920324 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2388098094551049, + 0.12995452779245925, + 0.7593650117677747 + ], + "orientation": [ + 0.9986645883307528, + 0.013285292187977306, + -0.004948015355959076, + 0.049679554845899476 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.1950396535454839, + 0.155056409969563, + 0.9596827485239745 + ], + "orientation": [ + -0.2593572339243517, + 0.6981939499220705, + 0.11014097078997157, + -0.6581246083051208 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example56/input/input.png b/Semantic/select_chemistry_tube_semantic/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..77972106fd99121051e0f41b1950364bb82fb001 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41680334d67f78b0dc3e0e4be6d7bed494db3fe76022a511a31ccbe166e43eb7 +size 699776 diff --git a/Semantic/select_chemistry_tube_semantic/example56/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..85ff37a4bba8c598f54495cc269cc1be38248c8b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:496798981ecffab433e1859a1ee69135d5bd25c5fc7bd6c5ca003b78cdfadcf9 +size 613334 diff --git a/Semantic/select_chemistry_tube_semantic/example56/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f8a775e368c66e33f999450fd0421b30212dda2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example56/input/instruction.txt @@ -0,0 +1 @@ + I need to create a solution for electroplating an object with copper. Please hand me the CuSO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example56/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example57/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f4e3f372693d0e60cfc268607ca3b65e6b97f9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example57/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.441086364449281e-10, + 4.1389749186906e-10, + -8.473579938502665e-07 + ], + "orientation": [ + 0.9999999999999987, + -2.4932241754846072e-08, + 1.6425288393871944e-08, + -6.176887722713628e-12 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.1076009392803206, + 0.16165255331831688, + 0.7599988290765989 + ], + "orientation": [ + 0.9999999997440092, + 8.353330741103888e-08, + 3.3635417818416925e-08, + -2.2626847502594433e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.05991324128543201, + 0.2110337005014309, + 0.7591074351026876 + ], + "orientation": [ + 0.9997489695005127, + -0.0037320537132686086, + -0.0009622078319354878, + -0.022071336928982416 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.09604240089803741, + 0.2828335765737692, + 0.8843138610567496 + ], + "orientation": [ + 0.8230368339695392, + 0.13568707550703485, + -0.48839306584629505, + 0.25626470826666947 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.10762595176347177, + 0.21186749399100815, + 0.7612331033562351 + ], + "orientation": [ + 0.9992398931248483, + 0.0013058670510028402, + -0.005414619516233251, + -0.03858254261425398 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.10759428908676498, + 0.261663991354356, + 0.8582166352396896 + ], + "orientation": [ + 0.9999997249624245, + -0.0007413864350032992, + 8.821332202856795e-06, + -1.85314269194192e-05 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.18737766945902615, + 0.11225722719104606, + 0.7593691218950885 + ], + "orientation": [ + 0.9986920318357019, + 0.015238247484423184, + -0.004515337189456939, + 0.04859663662793216 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.1446270645501498, + 0.1518181680968393, + 0.9284252028449097 + ], + "orientation": [ + 0.7001446768284714, + 0.2729957993743184, + 0.656104435141664, + 0.06926539698991477 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example57/input/input.png b/Semantic/select_chemistry_tube_semantic/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b49f55af480e7fa597743846e392de0ce6287f6c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b987b0df958a721dc54778a450950fda5ebbfccd95be67143efbb3342e8c8d6 +size 698922 diff --git a/Semantic/select_chemistry_tube_semantic/example57/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e2936f49b2458ce156e50b9c1b5b176365767e46 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d75626674d5e7a72c87249265cc982ec595b7d438e19f5a6f236c73e6200ab +size 614665 diff --git a/Semantic/select_chemistry_tube_semantic/example57/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6953534e98f7d65afa381e6bec027b0711b093b3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example57/input/instruction.txt @@ -0,0 +1 @@ + Im going to perform a colorimetric assay utilizing FeCl3. Please hand me the FeCl3 solution.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example57/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example57/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/Semantic/select_chemistry_tube_semantic/example58/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..eede63907c55b82946b819295bec991d96cc57a3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example58/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.971829784929138e-10, + 2.7827426755280834e-10, + -8.469995890775203e-07 + ], + "orientation": [ + 0.9999999999999996, + -1.4785931165750365e-08, + 9.590024656881889e-09, + 2.100093211962689e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.06211589823132682, + 0.09720618923873517, + 0.7599988441401455 + ], + "orientation": [ + 0.9999999999999896, + 1.0177454548010264e-07, + 1.1338108955481443e-08, + -1.0425156352295908e-07 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.14211371707545206, + 0.14720652667042752, + 0.7592158798277374 + ], + "orientation": [ + 0.9999995199459196, + -0.0006190693916758871, + 0.0007579761150418932, + 4.830349740301354e-05 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.14256002451996083, + 0.198075947382601, + 0.8582000004055288 + ], + "orientation": [ + 0.9998593342146114, + -6.30570270881309e-05, + -1.232065156146928e-05, + 0.01677222871075778 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.016020847473960806, + 0.05110374823126165, + 0.765213096289282 + ], + "orientation": [ + 0.9982067163413286, + 0.008334838832930487, + -0.04736724237130806, + 0.03564023376507487 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.0025376221332314543, + 0.07789767011555347, + 0.9018698163698108 + ], + "orientation": [ + 0.5205568764067644, + 0.5984535779248858, + -0.4856886668948672, + 0.36739675059045224 + ], + "class": "NameTag", + "content": "I2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.06201411340243331, + 0.04744443652052307, + 0.7628885696247447 + ], + "orientation": [ + 0.9989622953352352, + 0.0014414176035720322, + -0.0048061039616606295, + -0.04526760628264247 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.010542269845599469, + 0.08214133637046736, + 0.9636823777919464 + ], + "orientation": [ + 0.12631031021949807, + 0.12071995578347584, + 0.42206307749615823, + 0.8895702088212947 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example58/input/input.png b/Semantic/select_chemistry_tube_semantic/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..255251c1ed7f908efceebdd100f7e2cfd5525396 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d1117aad88f98615a7c8ef421451ca5b8c2f691d0d73a2e297ab1fbb71ce014 +size 678460 diff --git a/Semantic/select_chemistry_tube_semantic/example58/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..876385d5ab298c684749ac0484b28cef1cb8adbd --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f879202ae47d1f63dde1ba15d259fb7fb2f06e5b250c88210e31a044713bcbc +size 592848 diff --git a/Semantic/select_chemistry_tube_semantic/example58/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..351cbfa036c156703ed45c1d6b6f155ca72cbea9 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example58/input/instruction.txt @@ -0,0 +1 @@ + Im setting up a demonstration of the difference in reactivity between various metals with copper sulfate. Please pass me the CuSO4 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example58/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example58/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/Semantic/select_chemistry_tube_semantic/example59/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c1b1ce831cc49377aa38bc7a77049a47618bc1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example59/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.382428217822727e-10, + 5.720846483318506e-10, + -8.469915563275816e-07 + ], + "orientation": [ + 0.9999999999999996, + -3.804610289258703e-09, + 1.9736103447910412e-08, + 1.5085988394887126e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.1283461625214626, + 0.024132510510825822, + 0.759998849564059 + ], + "orientation": [ + 0.999999999842107, + 8.41622519964557e-08, + 1.685985796988814e-08, + 1.7770192660889637e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.29435541057784115, + 0.07409685688333471, + 0.7734001052776532 + ], + "orientation": [ + 0.9938132945462733, + 0.0028995595115720095, + -0.005534218504831177, + -0.11088778365204698 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.4913539247888048, + 0.14828677785856154, + 0.8976090696161578 + ], + "orientation": [ + 0.45213434802531444, + -0.2910083342465534, + -0.7630140162904526, + -0.3587454413356134 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.05043900350355795, + 0.07407180011538654, + 0.7591854439619834 + ], + "orientation": [ + 0.9983822054982359, + 0.0007905022522795462, + -0.05099761414614798, + -0.02513145841508018 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.048347252095930715, + 0.12413980693482288, + 0.8582196985078919 + ], + "orientation": [ + 0.9999998788288217, + -0.00046281583701989745, + -0.00016623390127090145, + 2.2586112567643304e-05 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.20835886511507193, + 0.07413382678048085, + 0.75921587841656 + ], + "orientation": [ + 0.9999995199478787, + -0.0006190703111163097, + 0.0007579727933927267, + 4.830328029915193e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.20840361568281812, + 0.12431451982235837, + 0.8582484584343424 + ], + "orientation": [ + 0.9999916069985767, + -0.00025934565134358504, + -0.0007520182482094404, + 0.00401909701186008 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example59/input/input.png b/Semantic/select_chemistry_tube_semantic/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..47f590f37cb44a7b6ad50693de713a452f63adff --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36d65b886a320992500182845cee7442e2afcc7808c03559aa2a675bd7af6d68 +size 663273 diff --git a/Semantic/select_chemistry_tube_semantic/example59/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..01d9e8ca4698c90ef070e2dfb82c6c34bdd198b4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1760a31d496de91884fdba6788e09ef3104d66b9c999daba4ef725752107b86b +size 579263 diff --git a/Semantic/select_chemistry_tube_semantic/example59/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2cacd57b09f2009e4d673fd3fa495f32e4aa2470 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example59/input/instruction.txt @@ -0,0 +1 @@ + Im etching a printed circuit board. Please give me the FeCl3 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example59/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example6/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e41407c40021e85e6040575124daf20c5b3d20f5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example6/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.699093440986695e-10, + -5.113003190120931e-10, + -8.466435662160329e-07 + ], + "orientation": [ + 0.9999999999999991, + -2.9825125860301236e-08, + 1.1357630419000073e-09, + 2.7816889227087203e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.005636903421368436, + 0.19533066668428117, + 0.759998819541353 + ], + "orientation": [ + 0.9999999999516331, + -9.001300403442688e-09, + 3.1268851569072835e-09, + -9.835324284595756e-06 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.08564841526807918, + 0.14532791233766723, + 0.7592158786434849 + ], + "orientation": [ + 0.9999995199472161, + -0.0006190701131682904, + 0.000757973824682256, + 4.830334749451097e-05 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.062358355000596964, + 0.23338590955506675, + 0.9276539952358528 + ], + "orientation": [ + -0.0427972745878302, + -0.9025112234532412, + -0.10068756873669328, + 0.41653799146138054 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.17130502667083597, + 0.1460548804431368, + 0.7767208448624553 + ], + "orientation": [ + 0.9962243661645741, + 0.0069826441232558175, + -0.013649366775760157, + -0.08545144660953446 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.44147983544180297, + 0.33323937090583855, + 1.4339740775237693 + ], + "orientation": [ + 0.7417831141882685, + -0.6362626783666203, + -0.11061171759042264, + 0.1808111267444171 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example6/input/input.png b/Semantic/select_chemistry_tube_semantic/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0bf4da991d2f56213ca7d5d3d53d14b4f439d583 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be55d2efb68fba728e44a9cfcce576aafa4b41ddf423fa9c5ae99901314fa63b +size 740252 diff --git a/Semantic/select_chemistry_tube_semantic/example6/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a3408eed4711b849d3c852a038666eefc8156123 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39199c2085cd34a8010a78d2ee857229987b6022e9065698bb15b388d69cedbb +size 656207 diff --git a/Semantic/select_chemistry_tube_semantic/example6/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5bd929ee081e1f27ad51179b00bf3dd2fe267cbb --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example6/input/instruction.txt @@ -0,0 +1 @@ + We are experimenting with reduction reactions in organic chemistry today. Fetch the FeCl3 solution as it acts as an oxidizing agent in these reactions. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example6/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example6/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/Semantic/select_chemistry_tube_semantic/example60/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0183ee15a9d5882cfa47b6a37826896e961aea --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example60/env_config/env_config.json @@ -0,0 +1,137 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.29307718430851e-10, + 2.2634784416525313e-10, + -8.467562467431151e-07 + ], + "orientation": [ + 0.9999999999999987, + -1.488168857971165e-08, + -2.1555692178475244e-08, + -5.4398961230877084e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.13905859151557426, + 0.0970536550655023, + 0.7599988324844721 + ], + "orientation": [ + 0.9999999995912459, + 5.5935383735057895e-08, + -3.6145525851992645e-08, + -2.859202697750972e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.3065715786655715, + 0.14642933896042146, + 0.7591074293759051 + ], + "orientation": [ + 0.9997489695014128, + -0.00373205475242416, + -0.000962205719055803, + -0.022071336804624826 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.41064455301525804, + 0.17984910803716114, + 0.9072488820040141 + ], + "orientation": [ + 0.5339718354842867, + 0.6215212805188556, + -0.14090288085198566, + 0.5556363513480318 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.13918096814806002, + 0.04728998725897232, + 0.7628830321316548 + ], + "orientation": [ + 0.9989660415595033, + 0.0014388962593694286, + -0.004707754418443186, + -0.0451952921976034 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.021813797885323498, + 0.058781096094167706, + 0.905293351761702 + ], + "orientation": [ + -0.5158093383460709, + -0.054078874655090765, + 0.08766652133729023, + -0.8504885553772293 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Take out the CuSO4 solution in a conversation" + ], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example60/input/input.png b/Semantic/select_chemistry_tube_semantic/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4b876fa9f35937ea5b797cac03b6634bc0ab5a65 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:256fdaa41db6cd7697b16c3babbed3bb73db03fe78c5d1b79d8b97cd0ec431f2 +size 692900 diff --git a/Semantic/select_chemistry_tube_semantic/example60/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..36e53eb32f0f86f95bee9b3e285ec8ad395aed2d --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45c86922f05e692c18daaf50591d59f909b34472cb6a736df7d5f783610551dd +size 607971 diff --git a/Semantic/select_chemistry_tube_semantic/example60/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d71003f6b3fc521fbd5ae7d5270384408b68176f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example60/input/instruction.txt @@ -0,0 +1 @@ + Im studying the effects of transition metal ions on reaction rates. Ill need the CuCl2 solution for this experiment. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example60/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example61/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..155ed484cda0aa4e7fd2bed1295dbcce96997ac4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example61/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.703088913884578e-10, + 1.4923437222227967e-10, + -8.47033756296321e-07 + ], + "orientation": [ + 0.999999999999999, + -7.174110025269196e-09, + 3.009972998189434e-08, + -2.011930027290786e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.19611990905727605, + 0.04618479311048159, + 0.7599988336335851 + ], + "orientation": [ + 0.9999999996551205, + 7.004104241763493e-08, + 6.979665193891687e-09, + -2.6263171868094994e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.02860757701799393, + 0.09556058138315242, + 0.7591074392025752 + ], + "orientation": [ + 0.9997489694872203, + -0.003732055441100755, + -0.0009622107192215683, + -0.02207133711306578 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.08019847759746437, + 0.13370166075130588, + 0.9015614527406823 + ], + "orientation": [ + 0.6022956558935837, + 0.4562769505711289, + -0.02508247500298582, + 0.6545396525169076 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2760998465042939, + 0.09618313622011009, + 0.7592158700810521 + ], + "orientation": [ + 0.9999995199495922, + -0.0006190693616083475, + 0.000757971314788873, + 4.8303182712312987e-05 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27655744865679827, + 0.1471201155388337, + 0.8581986657156839 + ], + "orientation": [ + 0.9998249990773074, + 1.614228178441948e-05, + -6.761594661472206e-06, + 0.018707509555512834 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example61/input/input.png b/Semantic/select_chemistry_tube_semantic/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dcb590736d051e707839530722227a78e7017d62 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e0462a30e3ce2b7cc9f59128b92c69d57688323679e1995c42506bca3cac61b +size 719215 diff --git a/Semantic/select_chemistry_tube_semantic/example61/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33392ef1fc07a47a942dca68c277f061f4c38150 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58234d2c1e97c6f262a3fd484d88be482bacc0c72cf3b000049ddd26b8f81268 +size 636200 diff --git a/Semantic/select_chemistry_tube_semantic/example61/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..866f0438880b95f278b973ac12c1dd81195aabb3 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example61/input/instruction.txt @@ -0,0 +1 @@ + Im preparing a solution for a Benedicts test to detect reducing sugars. I need the CuSO4 for the reagent.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example61/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example62/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7c24cf081392013e88ac18f2fcaf754aacf18fbf --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example62/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2313386157165724e-10, + 2.8649152116599866e-10, + -8.464730632985329e-07 + ], + "orientation": [ + 0.9999999999999986, + -2.6386666681134427e-08, + -1.767457272932967e-08, + -2.974723316173206e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.11671324388767719, + 0.1724977293997682, + 0.759998830451774 + ], + "orientation": [ + 0.9999999999769295, + 6.201500150520843e-08, + 1.2762933369241638e-08, + -6.79241188306719e-06 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.19462277843255466, + 0.22243234904946185, + 0.759184190039274 + ], + "orientation": [ + 0.9983835264687213, + 0.0007862267633201958, + -0.05097675446370485, + -0.02512143363153389 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1967051564411157, + 0.27250242328245833, + 0.8582234777084883 + ], + "orientation": [ + 0.9999998219133642, + -0.0005679046097603709, + -0.0001834460219401669, + 2.2699456038225855e-06 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.04895532140115283, + 0.12322136845322246, + 0.7767198029260642 + ], + "orientation": [ + 0.996224952520224, + 0.006983382026080505, + -0.013648306688029549, + -0.08544471941615038 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.018286927664487484, + 0.0709477296834606, + 1.343151876435514 + ], + "orientation": [ + -0.15991061170217696, + 0.022255343233386793, + -0.13185952057092967, + -0.978031882301086 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example62/input/input.png b/Semantic/select_chemistry_tube_semantic/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..259ccd9d3e97615b226341ca128a8b9d7ce3bc4f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3521026f7bfe78392ba1f7ebb0634e37714be5cf13eb241b997077e77da78b01 +size 696803 diff --git a/Semantic/select_chemistry_tube_semantic/example62/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5675b06c2e20690428fd6f070622bc0d17e888d7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f67727dd7d49643091864c63999e2aa704d6c5f6ba75b74f2fd9f438ca828fbd +size 612120 diff --git a/Semantic/select_chemistry_tube_semantic/example62/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b9b44c9d20f83f58b0da9b110cb460313969a1c --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example62/input/instruction.txt @@ -0,0 +1 @@ + Im synthesizing adipic acid and require a strong oxidizing agent. Please hand me the KMnO4.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example62/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example63/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..15a3dd6b667a24b6c3db7110ae08e86f9972d250 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example63/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.8823616066597e-10, + -2.137611340698391e-10, + -8.464200865912192e-07 + ], + "orientation": [ + 0.9999999999999998, + -1.0695570807925035e-08, + 1.5906031548386293e-08, + -4.838118247194133e-12 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.10359037229756016, + 0.06995960736225058, + 0.7599988239697673 + ], + "orientation": [ + 0.9999999999481438, + -6.40375166442861e-08, + 1.6997004557272956e-08, + -1.018375005725005e-05 + ], + "class": "TubeStand" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.26925891135170177, + 0.02068604088745014, + 0.7767192689032935 + ], + "orientation": [ + 0.9962266194490205, + 0.006983726279278356, + -0.01365289519474695, + -0.08542452060873675 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.4120003815763755, + 0.13604545096401058, + 1.2364603466475064 + ], + "orientation": [ + -0.2908121048687965, + 0.8070617502869084, + 0.2693456968027617, + 0.4376443150544123 + ], + "class": "NameTag", + "content": "FeCl3" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.10359455483883616, + 0.12018172022337913, + 0.7618567185711377 + ], + "orientation": [ + 0.9991517280155587, + 0.001344739420271557, + -0.004546094798052017, + -0.04090658995201231 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.10360083925418982, + 0.1699607094214599, + 0.8581974028429482 + ], + "orientation": [ + 0.9999999999791952, + 2.1170534606306855e-07, + -6.382534885477152e-06, + -9.099221999031756e-07 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "FeCl3" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example63/input/input.png b/Semantic/select_chemistry_tube_semantic/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2447fb8d5295e1451057e238a3e6c2cf54f2074f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fdc64a9a9487790055d4c5907c44ac890318377ab3ea2c28da76ed443661df0 +size 712871 diff --git a/Semantic/select_chemistry_tube_semantic/example63/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7a609230dc6dc4cfd5e0ba7d537253030666f377 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ba6d868145d0d0db98ab304a3d29ac6a9fc4264dc709c38874060ac9294ea1e +size 631452 diff --git a/Semantic/select_chemistry_tube_semantic/example63/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e24e6da8c549eca11edea01952a26de47e603e32 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example63/input/instruction.txt @@ -0,0 +1 @@ + I need to flocculate some suspended particles in this wastewater sample. Please provide the FeCl3. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example63/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example63/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/Semantic/select_chemistry_tube_semantic/example64/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a5916973ac02bb8533af4f3430a27a3304f19daf --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example64/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.117918609814484e-10, + 9.303130074043508e-10, + -8.469403648814611e-07 + ], + "orientation": [ + 1.0, + -1.7173823521505842e-09, + 1.89188873726176e-09, + -9.039879087002449e-11 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.012705779579226226, + 0.010622219088176196, + 0.759998854852456 + ], + "orientation": [ + 0.9999999996117708, + 5.0804079285703576e-08, + 1.7828860825597146e-08, + -2.7864979463075027e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.1548081419317051, + 0.06000293443442203, + 0.7591074422577166 + ], + "orientation": [ + 0.9997489694908884, + -0.003732056760674396, + -0.000962206973761818, + -0.02207133688706384 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1922863305568045, + 0.1088043030756029, + 0.8710414791361608 + ], + "orientation": [ + 0.9393511993728714, + 0.11767834391412246, + -0.20321065882280204, + -0.24995311510597465 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06537077917377807, + 0.06057304465883296, + 0.7594041192443046 + ], + "orientation": [ + 0.9984190184285558, + 0.0006131718252494438, + -0.05166849959792726, + -0.022123603001582386 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.06730086678864979, + 0.11063380768937366, + 0.85821821865292 + ], + "orientation": [ + 0.9999998177708186, + -0.0005977729170700835, + -8.20952099201517e-05, + -1.9653100175224798e-05 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example64/input/input.png b/Semantic/select_chemistry_tube_semantic/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f25680fd35b684234d78badf3d144fac2fe073c5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb1ad2644785e461d8e82fa4664dca1fb4d986211afd3a471f6ee763ec7ac056 +size 649300 diff --git a/Semantic/select_chemistry_tube_semantic/example64/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..32960b434b907cf5dd254306448e1e81cfba1654 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e29810e11a8287269a520a64099304d5b01277dd714de6d305f33503d899fc1b +size 567269 diff --git a/Semantic/select_chemistry_tube_semantic/example64/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0435011bc01b32aa4521e78fa2e70e99bddb43d4 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example64/input/instruction.txt @@ -0,0 +1 @@ + I need to catalyze a specific organic reaction that requires a copper(II) salt. Please hand me the CuCl2. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example64/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example65/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7b56dc81a31e2322efe7c46c9d9d2418b210d13f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example65/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.4295486277273827e-10, + 2.423793771865897e-10, + -8.467520032657717e-07 + ], + "orientation": [ + 0.9999999999999991, + -8.23021371512155e-09, + -3.080616931473691e-08, + -8.447192018593367e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.19932846487578795, + 0.05378724606218921, + 0.7599988270355083 + ], + "orientation": [ + 0.9999999996260117, + 5.3657050063818776e-08, + -5.1336642511259204e-08, + -2.734908897753176e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.36550528861709614, + 0.09867994493288006, + 0.7593470100481178 + ], + "orientation": [ + 0.9957485692183682, + -0.008881254547350408, + 0.0025021197814981077, + -0.09164960236595887 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.38196584159946906, + 0.12060903352643397, + 0.8887829669433541 + ], + "orientation": [ + 0.6729364929650029, + 0.2846995609023022, + 0.6810707185875587, + 0.04738473109162768 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "K2CrO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.19945059926368888, + 0.004024103010923341, + 0.7628830579654212 + ], + "orientation": [ + 0.998965933548482, + 0.0014388952054527593, + -0.004708389905549218, + -0.04519761337388719 + ], + "class": "ChemistryTube", + "solution": "K2CrO4" + }, + { + "name": "K2CrO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.15225398334502, + 0.07477895664851503, + 0.8843339123494395 + ], + "orientation": [ + 0.33246397147869866, + -0.0546924622074655, + -0.025163457392579573, + 0.941192457820581 + ], + "class": "NameTag", + "content": "K2CrO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example65/input/input.png b/Semantic/select_chemistry_tube_semantic/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f9c0eac3ec5d5716702dbe40884993038f90966f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f540d1fe87728815545e0bf63538651935ebcf46e5033bbffb330c57d7e0049d +size 683438 diff --git a/Semantic/select_chemistry_tube_semantic/example65/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2fb3a0b6b1eda1b2f2bb6ce6f120486012748968 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77e646d45ba11aae87f81252e630d0206f962c3eade96fea59de78aa7ed0d94b +size 599324 diff --git a/Semantic/select_chemistry_tube_semantic/example65/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a703788799701adc2c0942735a4fb05b395ea386 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example65/input/instruction.txt @@ -0,0 +1 @@ + I need to prepare a solution for a redox titration experiment. Please provide me with the KMnO4. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example65/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example65/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/Semantic/select_chemistry_tube_semantic/example66/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e552193b550271829459d6b3001301ba328ce899 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example66/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.01368234173527e-10, + -4.1953380076930994e-10, + -8.469184916156707e-07 + ], + "orientation": [ + 0.9999999999999997, + -2.552801310731281e-08, + -9.778129902799052e-09, + 1.886671935337493e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.06187241799331356, + 0.16673443197499846, + 0.7599988540224162 + ], + "orientation": [ + 0.9999999992194685, + -5.119785092496449e-08, + -2.6081568937746556e-08, + 3.951024900013076e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.22897903021949673, + 0.11604123220795276, + 0.7591298421408583 + ], + "orientation": [ + 0.9997066793221668, + -0.00394704077739028, + -0.0026484603136408594, + -0.023747880867859762 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.20854080302432976, + 0.18482612576757107, + 0.9580739240990546 + ], + "orientation": [ + -0.7078427047388204, + 0.4508810873120518, + 0.539330024094542, + 0.06919592157428658 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06196923160093207, + 0.1169733314904566, + 0.7628883579675286 + ], + "orientation": [ + 0.9989590978543387, + 0.001440914231892598, + -0.004810559174708968, + -0.04533765654121239 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.06171840595704992, + 0.16667845156931857, + 0.8582020158937735 + ], + "orientation": [ + 0.9999996156634222, + 1.0664069629034846e-06, + 8.353551364918275e-05, + 0.0008727506453046169 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.10413590631678561, + 0.2167031016147767, + 0.77317455514963 + ], + "orientation": [ + 0.9939750239737872, + 0.003096538652784888, + -0.005646016721549617, + -0.10941748333726656 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.16323144141808812, + 0.27886894821589847, + 0.8561531334194304 + ], + "orientation": [ + 0.8099760401063422, + 0.15380147828183416, + 0.4360999748266671, + 0.3606947902148728 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example66/input/input.png b/Semantic/select_chemistry_tube_semantic/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2d7bea1e882ae3ef4d52ce4827202a415cb08adc --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bb01fa3942294c2298a7759970f8dcd3825f239f741d8de24f4cfecba25414f +size 699969 diff --git a/Semantic/select_chemistry_tube_semantic/example66/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..874054d7249641d5e2214a35cc291f1a8234494f --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d5f0ff124857de2976ce7dd5cd060d0fdd672060a3c29c4604c6b306529c366 +size 613949 diff --git a/Semantic/select_chemistry_tube_semantic/example66/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..474e21527e120a122687bc712d1594182f833e49 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example66/input/instruction.txt @@ -0,0 +1 @@ + Im setting up a demonstration of a displacement reaction using iron. Ill need the CuSO4 solution. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example66/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example66/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/Semantic/select_chemistry_tube_semantic/example67/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4190d0a57b495768cd262522917b000cc873e216 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example67/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0271526912043266e-10, + -3.0256562608288264e-10, + -8.467439213416182e-07 + ], + "orientation": [ + 0.9999999999999993, + -2.3728728092705055e-09, + -2.200882954508371e-08, + 4.205436032660011e-11 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.14333727841812102, + 0.01663693117405726, + 0.7599988266026785 + ], + "orientation": [ + 0.9999999999999993, + -1.9988233198715654e-10, + -2.2778504142622487e-08, + -2.0027976037227894e-09 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.06333916170453437, + -0.03336440008768677, + 0.7592158844309534 + ], + "orientation": [ + 0.999999519944263, + -0.0006190718848218533, + 0.000757976264345187, + 4.830350537892975e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.08732967453290229, + 0.04574065256104009, + 0.9285931231777991 + ], + "orientation": [ + 0.4645054000657535, + -0.7382235686820066, + 0.18596631767268496, + 0.4524126707370378 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.22399049138074498, + -0.026731241039738386, + 0.7736222595236825 + ], + "orientation": [ + 0.9821915809628055, + 0.03719030531089742, + -0.051850076497256176, + 0.1767148806521274 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.20022552965734286, + 0.002761887940353818, + 0.9045280413481067 + ], + "orientation": [ + 0.1600050034842253, + 0.4240059027127964, + -0.7213299618875564, + 0.5237370326872215 + ], + "class": "NameTag", + "content": "I2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example67/input/input.png b/Semantic/select_chemistry_tube_semantic/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..735d824840aa819c96a92b4aac47faccf947653a --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:864cb2b349e633b496be8d0a8849c3d965a571dd5aa702b3c080b41a422b2e75 +size 712922 diff --git a/Semantic/select_chemistry_tube_semantic/example67/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..80bdd4660163d36e85b2988dca163a0ac46370b2 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c41ce6fc0d4534e4b291fd624f3931a63797909ae4099478b39220c277076a86 +size 631470 diff --git a/Semantic/select_chemistry_tube_semantic/example67/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..dd570ae4f4223385eed91f9cac33828f803c91c7 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example67/input/instruction.txt @@ -0,0 +1 @@ + I need to prepare a solution for electroplating with copper. The CuCl2 is necessary for this.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example67/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/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/Semantic/select_chemistry_tube_semantic/example68/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bf0d5660761f1df8d944ec17079aa711b2dee5d1 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example68/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.821777314782338e-10, + -1.9829624051639508e-10, + -8.468639403772358e-07 + ], + "orientation": [ + 0.9999999999999994, + -2.208645697318522e-08, + 2.7257627099689748e-08, + -2.4243384758620203e-11 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.1779219276142208, + 0.14439228271713717, + 0.7599988172303113 + ], + "orientation": [ + 0.999999999929032, + 9.770140004108068e-08, + 6.399027978535299e-08, + 1.1913127800323827e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.2579365038150973, + 0.09439366410040274, + 0.7592158695878354 + ], + "orientation": [ + 0.9999995199477555, + -0.0006190700330887056, + 0.0007579731816625483, + 4.830330258592419e-05 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2568740592047375, + 0.13148946507655607, + 0.9394128733953567 + ], + "orientation": [ + 0.2023269921427144, + 0.7509603265510505, + 0.6035256707822605, + -0.1757246166695059 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.3439323624973469, + 0.19435657375597648, + 0.7734020767769192 + ], + "orientation": [ + 0.9938151343816196, + 0.0029012475949010534, + -0.005547131089543737, + -0.11087060373747568 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.38861834178229726, + 0.2911471357371177, + 0.8351204439342212 + ], + "orientation": [ + 0.05194648785916679, + 0.21531746410337263, + 0.7320227833236754, + -0.644269040654794 + ], + "class": "NameTag", + "content": "I2" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.17784230939968926, + 0.09558884046693052, + 0.7635953605925894 + ], + "orientation": [ + 0.9966581000803559, + 0.013229797965597796, + -0.0033398281763792207, + -0.08053849724048714 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.21808185765752702, + 0.12591931555332914, + 0.9198069812161982 + ], + "orientation": [ + 0.8074489687856634, + 0.46228299971225933, + -0.12063686229063046, + 0.3460741805461298 + ], + "class": "NameTag", + "content": "CuSO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example68/input/input.png b/Semantic/select_chemistry_tube_semantic/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..42ab5161f8576d8b26312647cb0a78647006d932 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c730a74d63e095e4ee2448b6b4e11dde61150d86f69d2f0fa6724f1dccb2c860 +size 701715 diff --git a/Semantic/select_chemistry_tube_semantic/example68/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..807a8d71b5d51b5af8a98fc0ebb7f2970fd422f6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d68d77dec05bf3f43fd5a369993386667cb24d713d0f1a45e25edca1a527350e +size 616380 diff --git a/Semantic/select_chemistry_tube_semantic/example68/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2188c5089f46af4a522bb6b1d30e0ba09dae43b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example68/input/instruction.txt @@ -0,0 +1 @@ + I need to demonstrate a precipitation reaction using copper(II) ions. Please get me the CuCl2.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example68/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example68/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/Semantic/select_chemistry_tube_semantic/example69/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..19a90997f04fca0c15354550c4189b2dac02c03e --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example69/env_config/env_config.json @@ -0,0 +1,169 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.866610453113247e-10, + 1.2072183891106765e-10, + -8.465515587846408e-07 + ], + "orientation": [ + 0.9999999999999988, + -2.2546411343376652e-08, + 9.992501705807196e-09, + 1.667356633530547e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + 0.06557341707409077, + 0.1466816275958329, + 0.759998833551952 + ], + "orientation": [ + 0.999999999547311, + 7.327748267908707e-08, + 2.9525480507952373e-08, + 3.0089415293008112e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.08624529139784808, + 0.12514553570281825, + 0.7931744317803244 + ], + "orientation": [ + 0.8936588862491044, + 0.20854247210825527, + -0.003989840431525374, + -0.39732595375625823 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.08868697874418223, + 0.19982201030227498, + 0.8243941702277847 + ], + "orientation": [ + -0.4431247816303813, + -0.5984593229762372, + 0.47484792871517256, + -0.4690483037414826 + ], + "class": "NameTag", + "content": "CuCl2" + }, + { + "name": "I2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.06556758157118873, + 0.19690076698535225, + 0.7618544389394581 + ], + "orientation": [ + 0.9991495483086377, + 0.0013432781741515355, + -0.004515230512169852, + -0.0409632568506823 + ], + "class": "ChemistryTube", + "solution": "I2" + }, + { + "name": "I2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.0655651191429659, + 0.246687989732013, + 0.8581973805478015 + ], + "orientation": [ + 0.9999999998017771, + 8.667733422175886e-08, + 8.97786024034436e-06, + 1.777179125170362e-05 + ], + "class": "NameTag", + "content": "I2" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.23158125418416778, + 0.19664598607452344, + 0.7731739901425648 + ], + "orientation": [ + 0.9939762549778398, + 0.0030942259689619228, + -0.00562953312790058, + -0.1094072148564425 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.31734894906340566, + 0.26480646339465863, + 0.8935664948172234 + ], + "orientation": [ + 0.7451198787254449, + -0.35397550665543276, + 0.5405509036899295, + 0.16523446231403094 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 2.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuCl2" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example69/input/input.png b/Semantic/select_chemistry_tube_semantic/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6076486aaf01921a7114998fa23bfca1014ef53b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18b1090e4f3a723262416eff4fd4bfd200335ca24f25baae3e491c1d4fb6a807 +size 695649 diff --git a/Semantic/select_chemistry_tube_semantic/example69/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..313c73a3dd88205a92af251b1a82031a1a956b08 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7397af868fde0f6e6cc561e7272e52b3880425b18fbf0cc6eb6c42af2f9980a5 +size 611722 diff --git a/Semantic/select_chemistry_tube_semantic/example69/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..be6249a9e206f69a36528e4351d045c838bdd218 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example69/input/instruction.txt @@ -0,0 +1 @@ + I want to observe the formation of copper(II) hydroxide precipitate. Please get the CuCl2 solution for me. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example69/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example69/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/Semantic/select_chemistry_tube_semantic/example7/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1514106951c7f8a68794d88e23015d1ccdee8778 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example7/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.443595289196445e-11, + 5.271529371055102e-10, + -8.468479201932075e-07 + ], + "orientation": [ + 0.9999999999999998, + -1.2509920631298035e-08, + -1.8882729068638905e-08, + -4.3761932800716613e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.1230362876678205, + 0.08107677913873824, + 0.7599988477248322 + ], + "orientation": [ + 0.9999999999999867, + 3.866865075328717e-08, + -1.1038915197739198e-08, + -1.5966746217166235e-07 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.12304632143749655, + 0.13130142570299844, + 0.7618525348480487 + ], + "orientation": [ + 0.9991520181994025, + 0.0013427491396976793, + -0.004479627699219956, + -0.040906900255153804 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.1230360830269243, + 0.1810862830404421, + 0.8581973896902425 + ], + "orientation": [ + 0.9999999999972634, + 3.5935374019727504e-07, + 2.188734117556381e-06, + 7.443812510577329e-07 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.043037953709021345, + 0.13107861280648606, + 0.7592158819495207 + ], + "orientation": [ + 0.9999995199437575, + -0.0006190697176819737, + 0.0007579786903509331, + 4.83036647403468e-05 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.04259724574461071, + 0.18201702934706587, + 0.8581989744248563 + ], + "orientation": [ + 0.9998244996618789, + -4.299559737334325e-05, + 5.344526157281898e-06, + 0.01873413992392015 + ], + "class": "NameTag", + "content": "KMnO4" + } + ], + "scene": { + "name": "lab_1", + "position": [ + -4.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example7/input/input.png b/Semantic/select_chemistry_tube_semantic/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c91e14fad2a59487be34c44f0577bfa37c96b506 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f07e2b9abd3168a39fac3005f4a39b2b07a40e71bf615993847552fff0a6e55 +size 723074 diff --git a/Semantic/select_chemistry_tube_semantic/example7/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33f787b8fd754fdbc2d7fa99096db22093789727 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcef733d6b86b6d88bdd206b072e357bf3054b775c284de252b8b87c3d146af8 +size 638444 diff --git a/Semantic/select_chemistry_tube_semantic/example7/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..70087476e2f2527f864dfbcfc1d25ef9b08f8d23 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example7/input/instruction.txt @@ -0,0 +1 @@ + Im studying the reaction between copper(II) sulfate and iron. Please provide the CuSO4 solution for this experiment. \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example7/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example7/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/Semantic/select_chemistry_tube_semantic/example70/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cf0d9e90eeddefff902d8ed5d4c35e304e5138d6 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example70/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.214430696228863e-10, + 2.509647976922989e-10, + -8.467773763793145e-07 + ], + "orientation": [ + 0.9999999999999992, + -8.664169115229482e-09, + -2.1150351779617562e-08, + -9.162744227041093e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.13639262482433276, + 0.0564306174597472, + 0.7599988323340958 + ], + "orientation": [ + 0.9999999996573777, + 6.686227812040368e-08, + -4.3644989398122245e-08, + -2.6177071801453675e-05 + ], + "class": "TubeStand" + }, + { + "name": "CuSO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.1365146263587514, + 0.006667488098549043, + 0.762883055118311 + ], + "orientation": [ + 0.9989658388406042, + 0.0014388788547898261, + -0.004708441978970341, + -0.04519970167225083 + ], + "class": "ChemistryTube", + "solution": "CuSO4" + }, + { + "name": "CuSO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.14222134317655924, + 0.06100144657979982, + 0.8581813703540976 + ], + "orientation": [ + 0.9840655105752267, + 0.0009430564300450885, + -0.001082451384282014, + -0.17780047761434623 + ], + "class": "NameTag", + "content": "CuSO4" + }, + { + "name": "CuCl2", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.3039052755425122, + 0.1058068453486056, + 0.759107431397694 + ], + "orientation": [ + 0.9997489694998162, + -0.003732055263373188, + -0.0009622055699251737, + -0.022071336797053143 + ], + "class": "ChemistryTube", + "solution": "CuCl2" + }, + { + "name": "CuCl2_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.4538087894570663, + 0.15364741883394484, + 0.8820051183637665 + ], + "orientation": [ + -0.22196425372703968, + -0.0556596639246059, + -0.9142371050829377, + 0.334371630926977 + ], + "class": "NameTag", + "content": "CuCl2" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "CuSO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example70/input/input.png b/Semantic/select_chemistry_tube_semantic/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1f98b1525c6a975a5d2517b205c51b9a4af56425 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:652faa20a4fb16fc69ccad7134d854ad6bdafeb1c986ed5bfd80810000462121 +size 677269 diff --git a/Semantic/select_chemistry_tube_semantic/example70/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2825f1e98746e540268027eafcc065570a1baaba --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd4be530de43b5417177d9b5f0766bf3c6641f5cd25d85265799a0102be91e94 +size 592826 diff --git a/Semantic/select_chemistry_tube_semantic/example70/input/instruction.txt b/Semantic/select_chemistry_tube_semantic/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1a99fad501017769b738c44d06b8d483d224b1e5 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example70/input/instruction.txt @@ -0,0 +1 @@ + Im going to perform a Benedicts test. Please provide me with the CuSO4 solution to prepare the reagent.` \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example70/output/operation_sequence.json b/Semantic/select_chemistry_tube_semantic/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example70/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/Semantic/select_chemistry_tube_semantic/example71/env_config/env_config.json b/Semantic/select_chemistry_tube_semantic/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c6701d25637bdf010b2f5114793bdc0a2baad693 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example71/env_config/env_config.json @@ -0,0 +1,135 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.691630882539588e-10, + -3.848983754416192e-10, + -8.463248850600615e-07 + ], + "orientation": [ + 0.9999999999999996, + -2.6472036241043202e-08, + -1.9310377123260678e-08, + 1.4409059110546243e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "chemistry_tube_stand", + "xml_path": "obj/meshes/tube/tube_container/tube_stand.xml", + "position": [ + -0.12690780508151822, + 0.1751957848572203, + 0.7599988298212951 + ], + "orientation": [ + 0.9999999997429104, + 7.536027460228137e-08, + 5.085789284746869e-09, + 2.2675401555457975e-05 + ], + "class": "TubeStand" + }, + { + "name": "KMnO4", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + -0.04781561445655031, + 0.1254374418688419, + 0.7590891079086165 + ], + "orientation": [ + 0.9877136708276516, + -0.013495683284226189, + -0.0016921095983350922, + 0.15568143035688012 + ], + "class": "ChemistryTube", + "solution": "KMnO4" + }, + { + "name": "KMnO4_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + -0.07935808701536749, + 0.17005379653754163, + 0.9489128385519 + ], + "orientation": [ + 0.26433071716777057, + 0.17953373183194749, + 0.3634791010108675, + 0.8750884836543098 + ], + "class": "NameTag", + "content": "KMnO4" + }, + { + "name": "FeCl3", + "xml_path": "obj/meshes/tube/tube/tube.xml", + "position": [ + 0.03910614000762458, + 0.22515595983535616, + 0.7735951066424006 + ], + "orientation": [ + 0.9935752346025702, + 0.0027125513355771937, + -0.005447965312696539, + -0.1130098001221624 + ], + "class": "ChemistryTube", + "solution": "FeCl3" + }, + { + "name": "FeCl3_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2331161210756126, + 0.29834095932852905, + 0.8510848249396684 + ], + "orientation": [ + -0.5616144252561339, + 0.7173503191563961, + 0.18483240613544852, + 0.3685576462273169 + ], + "class": "NameTag", + "content": "FeCl3" + } + ], + "scene": { + "name": "lab_1", + "position": [ + 6.0, + 2.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "not_contain": { + "container": "chemistry_tube_stand", + "entities": [ + "KMnO4" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_chemistry_tube_semantic/example71/input/input.png b/Semantic/select_chemistry_tube_semantic/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e768b857df7a3062a1249c21ef53d967aa94f03b --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f32d6f259f967bb3d783d72715736eda1fd64f87ad41370bbc0266780c6cff3 +size 696790 diff --git a/Semantic/select_chemistry_tube_semantic/example71/input/input_mask.png b/Semantic/select_chemistry_tube_semantic/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fc915fb1e24abbd13fd119ff775725b756753c74 --- /dev/null +++ b/Semantic/select_chemistry_tube_semantic/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa2a6d8e8bb42468b2cf23d802fda4321b685d58f68485ae537a32f3e8044cc7 +size 612097