diff --git a/CommenSence/select_nth_largest_poker/example35/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example35/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example36/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..585cb408e4db7fd6ae0d23937f01f186c73ba44b --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example36/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.708132068602585e-05, + -9.909673271883465e-05, + 0.011998532329282798 + ], + "orientation": [ + 0.9999999999999971, + -6.536616907286283e-08, + -4.42720565294061e-08, + 2.9576329332244966e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.27427429834298794, + 0.19990314707022863, + 0.7779982610083302 + ], + "orientation": [ + 0.7071067805547855, + -7.732398812187117e-08, + 1.4956245007803186e-08, + 0.7071067818183056 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.27433986025116686, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.13271026156558552, + 0.19990314663839767, + 0.7779982735411355 + ], + "orientation": [ + 0.7071067805547692, + -7.732398810522113e-08, + 1.4956245011798094e-08, + 0.707106781818322 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13277582382682723, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 6.556259239603627e-05, + 0.1999031462333587, + 0.7779982852959114 + ], + "orientation": [ + 0.7071067805547541, + -7.732398808976586e-08, + 1.4956245015267736e-08, + 0.7071067818183374 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example36/input/input.png b/CommenSence/select_nth_largest_poker/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4f57c19f09737c53eb9ceeea157629cf20805aaf --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52010467eb0f2b70bef12ce1263e6133bbefc1d97e1d509b4cb09977a9928e7b +size 906264 diff --git a/CommenSence/select_nth_largest_poker/example36/input/input_mask.png b/CommenSence/select_nth_largest_poker/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..da51a114d8317467abde9cc57febe729f5d13bc4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c0c1106d57b4e164b82acd0858eba06f056e0a91b21c1c1a2e7ba052707dbe1 +size 807727 diff --git a/CommenSence/select_nth_largest_poker/example36/input/instruction.txt b/CommenSence/select_nth_largest_poker/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example36/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example36/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example37/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..253be70c15e9b8ab55d4ecb3db81efb7aa8796cd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example37/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.486491911726509e-05, + -9.920763914613992e-05, + 0.01199853213638377 + ], + "orientation": [ + 0.9999999999999969, + -6.541767703298343e-08, + -3.6196566074232535e-08, + 1.7767052452549865e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.22453569835693793, + 0.19990303829340594, + 0.7779982688261727 + ], + "orientation": [ + 0.7071067807183666, + -7.167218875710178e-08, + 2.0680742463731645e-08, + 0.7071067816547241 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22458932081142277, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.4999999999991434 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.10769741083036698, + 0.19990303798537182, + 0.7779982772832091 + ], + "orientation": [ + 0.7071067807183585, + -7.167218874721724e-08, + 2.0680742465081577e-08, + 0.7071067816547321 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1077510334797829, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + 5.362282918678804e-05, + 0.19990303770128864, + 0.7779982850824881 + ], + "orientation": [ + 0.7071067807183509, + -7.167218873790656e-08, + 2.0680742466373444e-08, + 0.70710678165474 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.631321581098202e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914063 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example37/input/input.png b/CommenSence/select_nth_largest_poker/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..88e3d475eed4027f6a3df5becf5ce7e258bb81bb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e660f3a49626ea607f75881d0732b7b0ede9dc6756d2dd45d7ea14b995b2609a +size 907047 diff --git a/CommenSence/select_nth_largest_poker/example37/input/input_mask.png b/CommenSence/select_nth_largest_poker/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9c53c69e8cffc8c5f5b3149e0c99a967bdd443b8 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c47958d008ec1676fb7f06af2e42d1b2e826e9c2d5be38e34e0b8b558664730 +size 808192 diff --git a/CommenSence/select_nth_largest_poker/example37/input/instruction.txt b/CommenSence/select_nth_largest_poker/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example37/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example37/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example37/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example38/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..80345f75f4d353ec86d9cd5beb54ece927f4b046 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example38/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.7800136673390184e-05, + -0.00010149384438857515, + 0.011998584710890131 + ], + "orientation": [ + 0.9999999999977743, + -3.496491925619164e-08, + 2.275744445462962e-08, + -2.109148918132741e-06 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.23747687497320782, + 0.19992230109756093, + 0.7779983606297495 + ], + "orientation": [ + 0.7071077461611839, + -8.682489589306358e-09, + 4.070039478676736e-08, + 0.7071058162105935 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2374722294694741, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.14643168275181231, + 0.19992205245522376, + 0.7779983564870643 + ], + "orientation": [ + 0.7071077461608545, + -8.682489554053108e-09, + 4.0700394740174566e-08, + 0.7071058162109238 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1464270372763403, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008573, + 0.5000000000007901, + 0.49999999999914274 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -4.645429523786323e-06, + 0.19992165256561595, + 0.777998349824427 + ], + "orientation": [ + 0.7071077461603331, + -8.682489487589093e-09, + 4.070039466454488e-08, + 0.7071058162114437 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621350520500815e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.50000000000086, + 0.5000000000007929, + 0.49999999999914096 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 0.1472780295828869, + 0.19993509711411134, + 0.7779983431166788 + ], + "orientation": [ + 0.7071392626896068, + -8.607662057451315e-09, + 4.0706587302800533e-08, + 0.7070742981913556 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.14730085191482045, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example38/input/input.png b/CommenSence/select_nth_largest_poker/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..09dfa38adbc9c250fe979fba598ab27701ff09c0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d172350ad8d8b3bddf857a059e65c23d225eea3375b2ad8d867331a0e823d91 +size 925201 diff --git a/CommenSence/select_nth_largest_poker/example38/input/input_mask.png b/CommenSence/select_nth_largest_poker/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..872beb5a421fb79ff3211b7e6a0e6ec361974122 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa6c0da58c23e8c04cdb860af12044e1520c4ab8d4f58ded2f0b97b8b5b71fdc +size 822089 diff --git a/CommenSence/select_nth_largest_poker/example38/input/instruction.txt b/CommenSence/select_nth_largest_poker/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example38/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example38/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example39/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d087565b80b45d26ee01b46258b5b0a0ee9d7cc2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example39/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.4282838552998311e-05, + -0.00010135930154476651, + 0.011998584630440364 + ], + "orientation": [ + 0.9999999999975918, + -3.4938512414165974e-08, + 2.512087145403252e-08, + -2.1945098765982773e-06 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.21594897956784537, + 0.19992237018636017, + 0.7779983606008469 + ], + "orientation": [ + 0.7071077852697387, + -6.9990788724196525e-09, + 4.2346533960729176e-08, + 0.70710577710193 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21594087567095077, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.13364993052310087, + 0.19992213634347897, + 0.7779983564671674 + ], + "orientation": [ + 0.7071077852694532, + -6.999078837222467e-09, + 4.234653391715583e-08, + 0.7071057771022145 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13364182664563526, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -8.103845519819046e-06, + 0.1999217566156626, + 0.7779983497546661 + ], + "orientation": [ + 0.7071077852690014, + -6.99907877212647e-09, + 4.2346533845878284e-08, + 0.7071057771026672 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 0.1360141996647858, + 0.19992578096783095, + 0.7779983429146727 + ], + "orientation": [ + 0.7071097642890344, + -6.985833280024308e-09, + 4.2333570393445867e-08, + 0.7071037980714754 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.13602718314449525, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example39/input/input.png b/CommenSence/select_nth_largest_poker/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4c5f92372c74a63721644c52cf683c189141b836 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6060256957c8186e5ba212b7ff7abc4a1070ee1d830bb8161f1bdab93f31e788 +size 909147 diff --git a/CommenSence/select_nth_largest_poker/example39/input/input_mask.png b/CommenSence/select_nth_largest_poker/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..82003741cb2e5e606073c5605cae89ab563154aa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:745e231c8e2678ab4a7584145ceb04a89187629c215379cba8fb33bf5a4a7791 +size 806618 diff --git a/CommenSence/select_nth_largest_poker/example39/input/instruction.txt b/CommenSence/select_nth_largest_poker/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example39/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example39/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example4/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4091e843af81ae4b10c78519399d606c13a8234e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example4/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.472318959276481e-05, + -9.911991352640742e-05, + 0.011998532289028457 + ], + "orientation": [ + 0.9999999999999977, + -6.53769764836804e-08, + -4.271245250608849e-08, + 2.6745519056191403e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.2633894093838738, + 0.19990312433472104, + 0.7779982627492665 + ], + "orientation": [ + 0.7071067805905393, + -7.623307216153969e-08, + 1.606241449547657e-08, + 0.7071067817825523 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2634526666370963, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.12912326671372798, + 0.19990312393426612, + 0.7779982742172399 + ], + "orientation": [ + 0.7071067805905255, + -7.623307214685069e-08, + 1.6062414498585336e-08, + 0.707106781782566 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1291865242786837, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + 6.325786490335334e-05, + 0.19990312354894782, + 0.7779982852513515 + ], + "orientation": [ + 0.7071067805905108, + -7.623307213266205e-08, + 1.6062414501592108e-08, + 0.7071067817825807 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example4/input/input.png b/CommenSence/select_nth_largest_poker/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e3e62d378bc7c50aae08b82cd03084d288162a93 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c736eb8e0ba0a60185951b5b37c439ab47956f3e73b804c6f87faae5ed81f43 +size 990513 diff --git a/CommenSence/select_nth_largest_poker/example4/input/input_mask.png b/CommenSence/select_nth_largest_poker/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8bd5586694c17fcc6d2a6bd72eb28b238b1f43c1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:897cebc9387d65e5aa48fc2fa599536ee04c5bf450581d8ca4fa000e7366a7e5 +size 893660 diff --git a/CommenSence/select_nth_largest_poker/example4/input/instruction.txt b/CommenSence/select_nth_largest_poker/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example4/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example4/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example4/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example40/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7b6903ebe73b02bbc7468c5e3a957013606e37 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example40/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.375437376324236e-05, + -9.912907479351319e-05, + 0.011998532273024573 + ], + "orientation": [ + 0.9999999999999969, + -6.538123126257107e-08, + -4.2073832161603645e-08, + 2.9291363693810536e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.2789544385985497, + 0.19990311538589628, + 0.7779982617585216 + ], + "orientation": [ + 0.707106780576998, + -7.578625366153909e-08, + 1.6515238172314496e-08, + 0.7071067817960927 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2790167489401928, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.1077670476131605, + 0.19990311489374712, + 0.7779982761614067 + ], + "orientation": [ + 0.7071067805769798, + -7.578625364313874e-08, + 1.6515238176099257e-08, + 0.7071067817961114 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10782935834045108, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + 6.231097021163753e-05, + 0.19990311458373503, + 0.7779982852336512 + ], + "orientation": [ + 0.7071067805769679, + -7.578625363143816e-08, + 1.651523817856549e-08, + 0.7071067817961235 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example40/input/input.png b/CommenSence/select_nth_largest_poker/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0ff27d19044d930d7ac7ce989f11c7e82fa24c36 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e74fb17e9ead345ff7b72bea9a59e73edeb4d38064027026b665d8d2d66b3a7 +size 923220 diff --git a/CommenSence/select_nth_largest_poker/example40/input/input_mask.png b/CommenSence/select_nth_largest_poker/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b883d40ccbf1420575f4efa6eb8051ecee803fab --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff2f3b02208ba87f7ae796396d35ceb613102c71abcefd8da04da601260b0cc3 +size 823792 diff --git a/CommenSence/select_nth_largest_poker/example40/input/instruction.txt b/CommenSence/select_nth_largest_poker/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example40/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example40/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example40/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example41/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b463bc5a41ea3e4fffaedf09dcb43222516541f0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example41/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.5089624023001498e-05, + -0.00010176668123255778, + 0.011998584888614248 + ], + "orientation": [ + 0.9999999999981326, + -3.501620813154792e-08, + 1.786245739255939e-08, + -1.9321527022180704e-06 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.29521328106226336, + 0.1999221813891804, + 0.7779983605243976 + ], + "orientation": [ + 0.7071076650879055, + -1.216665583664275e-08, + 3.7288617843452444e-08, + 0.7071058972840842 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2952158031238618, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007916, + 0.49999999999914124 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.10945676856431266, + 0.1999217166062533, + 0.7779983538904873 + ], + "orientation": [ + 0.7071076650871667, + -1.2166655777417392e-08, + 3.728861775455342e-08, + 0.7071058972848234 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10945929071823032, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992102, + -0.5000000000008563, + 0.5000000000007891, + 0.499999999999144 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 2.5222088118076324e-06, + 0.19992144272655524, + 0.7779983499813751 + ], + "orientation": [ + 0.7071076650867414, + -1.2166655733311457e-08, + 3.7288617701587276e-08, + 0.7071058972852485 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621451394319715e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921163, + -0.500000000000855, + 0.5000000000007881, + 0.49999999999914513 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 0.12052886839462296, + 0.19992564087784082, + 0.7779983456690827 + ], + "orientation": [ + 0.7071095945993184, + -1.2153041843272453e-08, + 3.727530175261178e-08, + 0.7071039677625817 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.12053133105990642, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992041, + -0.5000000000008626, + 0.5000000000007956, + 0.4999999999991377 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example41/input/input.png b/CommenSence/select_nth_largest_poker/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b121159e01a17cf2f4ce7235ef5d3da7bb24fdbb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd62c45cf364d31e021f7bf9cb784a59caaa473ac448e1a6a6cba5f0cea66d5d +size 991524 diff --git a/CommenSence/select_nth_largest_poker/example41/input/input_mask.png b/CommenSence/select_nth_largest_poker/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..12ac3a7da4336cddd307998cfd10fb5092dc33a4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1eae1f3f6d08d4425eb1f5ee7ed789c4ca0710735664fce7cef3fba47c8a8f82 +size 891461 diff --git a/CommenSence/select_nth_largest_poker/example41/input/instruction.txt b/CommenSence/select_nth_largest_poker/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example41/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example41/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example41/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example42/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef2e23e84d1ddfa4a293ca20784570312e26487 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example42/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.708015769435321e-05, + -0.00010146644886209762, + 0.011998584694146787 + ], + "orientation": [ + 0.9999999999977387, + -3.495961768266336e-08, + 2.324078810159233e-08, + -2.1266171907079133e-06 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.24603661429827794, + 0.19992235118733498, + 0.7779983612424012 + ], + "orientation": [ + 0.7071077541619839, + -8.338286888908221e-09, + 4.1037114759530475e-08, + 0.7071058082097719 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2460312608619995, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008613, + 0.5000000000007944, + 0.49999999999913985 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.1304354736879538, + 0.1999220328722911, + 0.7779983558706527 + ], + "orientation": [ + 0.707107754161569, + -8.338286843220254e-09, + 4.103711469989619e-08, + 0.7071058082101873 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1304301202857077, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -5.353363395084296e-06, + 0.19992167372405328, + 0.7779983498098316 + ], + "orientation": [ + 0.7071077541611092, + -8.338286782733614e-09, + 4.103711463191419e-08, + 0.707105808210646 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626417825766297e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.4999999999991392 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 0.14452654240281343, + 0.19993512179573728, + 0.777998343087546 + ], + "orientation": [ + 0.7071392683220412, + -8.263176392656065e-09, + 4.1043379257689846e-08, + 0.7070742925584038 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1445500712450996, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007946, + 0.4999999999991396 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example42/input/input.png b/CommenSence/select_nth_largest_poker/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a022b393db6ec667b30c806a64375ba893d15e5e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c647c8885fd2ec6311e9c5bbe6ae8cedd5fe90772728ac865a11a4f84b8a716 +size 923943 diff --git a/CommenSence/select_nth_largest_poker/example42/input/input_mask.png b/CommenSence/select_nth_largest_poker/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c69b4476a9543eb835307ba133e520d328416402 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0836d6755591d10a28f22a8e594d33af375783a281cc664ad723965447bf6d2a +size 821986 diff --git a/CommenSence/select_nth_largest_poker/example42/input/instruction.txt b/CommenSence/select_nth_largest_poker/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example42/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example42/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example42/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example43/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ced243739c39ecdf4a5575d66bd9ccd985194762 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example43/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.7991183285101615e-05, + -9.918146307968865e-05, + 0.011998532182015775 + ], + "orientation": [ + 0.999999999999998, + -6.540557546582265e-08, + -3.826135208883988e-08, + 1.860090328240812e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.2221954507187676, + 0.1999030639371568, + 0.7779982681281298 + ], + "orientation": [ + 0.7071067806931405, + -7.311802181647648e-08, + 1.9217829307075674e-08, + 0.7071067816799511 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.22225212861688862, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.12905423498980576, + 0.19990306367732907, + 0.7779982752544913 + ], + "orientation": [ + 0.7071067806931334, + -7.31180218080191e-08, + 1.9217829308401926e-08, + 0.7071067816799588 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1291109130615352, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 5.6678312384657464e-05, + 0.19990306331715074, + 0.7779982851329436 + ], + "orientation": [ + 0.7071067806931225, + -7.311802179608478e-08, + 1.921782931018478e-08, + 0.7071067816799691 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example43/input/input.png b/CommenSence/select_nth_largest_poker/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f6fe3d6f913cdc6e2aed0b7684ec9a81e517eb6c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae6f7202758df32338757c37982dc834bab0ff5406bf3effbd24b916f4d82ea +size 923203 diff --git a/CommenSence/select_nth_largest_poker/example43/input/input_mask.png b/CommenSence/select_nth_largest_poker/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..caa95d05fd892b58e8711acc949b5a92bcba8fcb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:227ec151ac3e9cc82a79bc616191e46c8423ddd854d412ea0961709a6950502c +size 823817 diff --git a/CommenSence/select_nth_largest_poker/example43/input/instruction.txt b/CommenSence/select_nth_largest_poker/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example43/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example43/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example43/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example44/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..26747fe02aaac6e3688c7a254926ec07357e9bf2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example44/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.38193151415027e-05, + -9.912843807238279e-05, + 0.011998532274116704 + ], + "orientation": [ + 0.9999999999999969, + -6.538093301084548e-08, + -4.211710733307852e-08, + 2.99649378853649e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.28207542301940725, + 0.1999031160148547, + 0.777998261472727 + ], + "orientation": [ + 0.7071067805714784, + -7.581652594055741e-08, + 1.6484544942546353e-08, + 0.7071067818016133 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.28213779682036033, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.1050687024048046, + 0.1999031155079102, + 0.7779982763805405 + ], + "orientation": [ + 0.707106780571459, + -7.581652592125043e-08, + 1.6484544946794653e-08, + 0.7071067818016328 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10513107660532751, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 6.237443784785908e-05, + 0.19990311520680465, + 0.7779982852348621 + ], + "orientation": [ + 0.707106780571448, + -7.581652590988023e-08, + 1.6484544949083737e-08, + 0.7071067818016435 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example44/input/input.png b/CommenSence/select_nth_largest_poker/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..db132befee66aac35496e90165cc5dd6a2ff34d8 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde782b847fea0fc3803447b83592989d59d7523c0231e9786b3a38126af5c22 +size 989869 diff --git a/CommenSence/select_nth_largest_poker/example44/input/input_mask.png b/CommenSence/select_nth_largest_poker/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..218c19633d9134bf8a0cf2421632beaf891fc57c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c446ca2bf7545576d69f19a7bf74f605035801c4b8042656067124a374a0839a +size 893227 diff --git a/CommenSence/select_nth_largest_poker/example44/input/instruction.txt b/CommenSence/select_nth_largest_poker/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example44/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example44/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example44/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example45/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..53d5c1f1f70b03ac11280267895154091e76ca5e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example45/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.0116801217599514e-05, + -5.7453351925241106e-05, + 0.011998612662835629 + ], + "orientation": [ + 0.9999999999997525, + -1.0005259193489128e-08, + 8.908059927181982e-09, + -7.025877698572453e-07 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.27540442367694407, + 0.19996369476522402, + 0.777998392660216 + ], + "orientation": [ + 0.7071071024998339, + -8.226076858953217e-10, + 1.3325291014907908e-08, + 0.7071064598731154 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2754138881977203, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + 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0.7070729460507611 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example45/input/input.png b/CommenSence/select_nth_largest_poker/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5fff09f4d64c8524c28c50cd5439f9b5e0a0a392 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a05e05ee6146b0c66b1a7f6059e47b94e8311506355750f7d3b0d0bac74aee7 +size 907589 diff --git a/CommenSence/select_nth_largest_poker/example45/input/input_mask.png b/CommenSence/select_nth_largest_poker/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8bc026144e7fdfee9dcf5f32243298039f76ba43 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:153d19bb20ab0ad193db0d6fac7dc9ac99f006ba16bb95f99dc251ca0b57baa7 +size 808516 diff --git a/CommenSence/select_nth_largest_poker/example45/input/instruction.txt b/CommenSence/select_nth_largest_poker/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example45/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example45/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example45/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example46/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b8f894fda516f4a47763af685810b6b942ee1e38 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example46/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.105583722616646e-05, + -0.00010161675559805964, + 0.011998584788405927 + ], + "orientation": [ + 0.999999999997938, + -3.4988261480358316e-08, + 2.0572954856599486e-08, + -2.0301539354638525e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.2686042606278672, + 0.1999222639451323, + 0.7779983609409572 + ], + "orientation": [ + 0.7071077099860437, + -1.0237686557491499e-08, + 3.91781430180966e-08, + 0.7071058523858302 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26860281636117916, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920564, + -0.5000000000008613, + 0.5000000000007946, + 0.4999999999991398 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.11120651802100993, + 0.19992185016920003, + 0.7779983544666996 + ], + "orientation": [ + 0.7071077099854489, + -1.0237686500725826e-08, + 3.9178142939818744e-08, + 0.707105852386426 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11120507381549108, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920947, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991434 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -1.4441618616196594e-06, + 0.19992155782649568, + 0.7779983498924898 + ], + "orientation": [ + 0.7071077099850374, + -1.023768645220748e-08, + 3.917814288398125e-08, + 0.7071058523868363 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62646823684221e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 0.12208262916296085, + 0.19992569643982097, + 0.7779983448628492 + ], + "orientation": [ + 0.7071096686187158, + -1.0224156028985249e-08, + 3.9164903906232615e-08, + 0.7071038937425885 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.12208901211999014, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920414, + -0.5000000000008625, + 0.5000000000007955, + 0.499999999999138 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example46/input/input.png b/CommenSence/select_nth_largest_poker/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..57d775ae8e465cae30a1a8cca4e44d9bbfd00d32 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5afb0cd053ef4d74966d755a5ec3899a7f29c21bea0d9e9992a5bdf14bc6534 +size 990626 diff --git a/CommenSence/select_nth_largest_poker/example46/input/input_mask.png b/CommenSence/select_nth_largest_poker/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..48cea70407f834d5336f463c5c1218d28bcbca69 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d6ab0fc9d815f752f61ff211d527c21de21b4869b464947f89979d36726b88e +size 890919 diff --git a/CommenSence/select_nth_largest_poker/example46/input/instruction.txt b/CommenSence/select_nth_largest_poker/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example46/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example46/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example46/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example47/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc6a7bed07f5f64aa48ba286fa81665bf9a3436 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example47/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1360172356055776e-05, + -5.748340357968893e-05, + 0.011998612703789812 + ], + "orientation": [ + 0.999999999999774, + -1.0003695680445431e-08, + 8.068776005724514e-09, + -6.713685599110344e-07 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.28521791848940137, + 0.19996367345886365, + 0.7779983923978118 + ], + "orientation": [ + 0.7071070882005862, + -1.412685247704882e-09, + 1.2733006749557735e-08, + 0.7071064741723747 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2852286041264884, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.1423422466467554, + 0.1999635490418097, + 0.7779983900935342 + ], + "orientation": [ + 0.7071070881998144, + -1.412685251222567e-09, + 1.2733006726606687e-08, + 0.7071064741731463 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14235293247402853, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -6.482090055665783e-06, + 0.19997594563847879, + 0.7779983877927279 + ], + "orientation": [ + 0.7071406735220432, + -1.341116146268784e-09, + 1.273845365404405e-08, + 0.7070728872264792 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example47/input/input.png b/CommenSence/select_nth_largest_poker/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..edf721bfc3bb18eeaf3e6786860059ce4810d8fa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcbf0ce7ccc0e7ca0598c92f168dfb97f28db84901d0827435e65d5c2e7bf3c6 +size 990277 diff --git a/CommenSence/select_nth_largest_poker/example47/input/input_mask.png b/CommenSence/select_nth_largest_poker/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f7f915b9d98e89d9d94e856c98a4669ae46769ca --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2f328b833bfb7bee7b3dad9f85ccfc458b2eedbfc35128e89a4ad188c3546f0 +size 893423 diff --git a/CommenSence/select_nth_largest_poker/example47/input/instruction.txt b/CommenSence/select_nth_largest_poker/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example47/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example47/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example48/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..102515538ab848f03cb049cf491318572916b21b --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example48/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.65327396018488e-05, + -9.910224727233397e-05, + 0.011998532319743497 + ], + "orientation": [ + 0.9999999999999973, + -6.536874613663204e-08, + -4.390843929093709e-08, + 2.7515371414446703e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.26337589527726774, + 0.19990314164434939, + 0.7779982621542135 + ], + "orientation": [ + 0.7071067805737777, + -7.706968247410382e-08, + 1.5214187909970784e-08, + 0.7071067817993127 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2634409210729888, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.14018376929636941, + 0.19990314126679176, + 0.7779982729709587 + ], + "orientation": [ + 0.7071067805737626, + -7.706968246007575e-08, + 1.521418791305733e-08, + 0.7071067817993278 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14024879539432897, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 6.502644205419998e-05, + 0.199903140836943, + 0.7779982852853456 + ], + "orientation": [ + 0.7071067805737482, + -7.706968244378863e-08, + 1.5214187916784214e-08, + 0.7071067817993425 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example48/input/input.png b/CommenSence/select_nth_largest_poker/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a317bf4069ba69e68b7230078d4b7c2b1134dc01 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5bd4c9862fedc5edfe5b9e65d1818044fa100be7006290ef4bd4d6c7d34d9ae +size 990583 diff --git a/CommenSence/select_nth_largest_poker/example48/input/input_mask.png b/CommenSence/select_nth_largest_poker/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c6ef34e89fc9740d3ae6e09691356c36f25f16fa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29a6bca134f57291fbdc368ecdbd79e416870574a36ffa438ea8341a87a126b8 +size 893925 diff --git a/CommenSence/select_nth_largest_poker/example48/input/instruction.txt b/CommenSence/select_nth_largest_poker/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example48/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example48/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example48/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example49/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b575cefa8362b3ce6a6215ee05b80bceefee211a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example49/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.307433383166613e-05, + -9.913568471603453e-05, + 0.011998532261672861 + ], + "orientation": [ + 0.9999999999999966, + -6.538432495980457e-08, + -4.162098033873533e-08, + 2.277015578381733e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.24016337045762307, + 0.19990310883089793, + 0.7779982652272274 + ], + "orientation": [ + 0.7071067806307382, + -7.546945176952003e-08, + 1.683640648994127e-08, + 0.7071067817423529 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.24022501628787338, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.14215475504717645, + 0.19990310853903576, + 0.777998273384448 + ], + "orientation": [ + 0.707106780630728, + -7.546945175897047e-08, + 1.683640649224807e-08, + 0.7071067817423632 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14221640109353495, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 6.164635994925977e-05, + 0.19990310811551304, + 0.7779982852210662 + ], + "orientation": [ + 0.707106780630714, + -7.546945174378468e-08, + 1.683640649532644e-08, + 0.7071067817423768 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example49/input/input.png b/CommenSence/select_nth_largest_poker/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dacbebcd02062750546878ac2c8f10817662ec78 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a5994fa80d96a32b4bcbf4088ca368b05d855cd5eef8fa4e47e78c565d44323 +size 991333 diff --git a/CommenSence/select_nth_largest_poker/example49/input/input_mask.png b/CommenSence/select_nth_largest_poker/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e1931aa0548e3b8e5b820a5466bb211f651ae3d5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d0ab8c35bf8417b3948e55eaa8253400712f410ed67cbc9afc1c6567ff4dd8f +size 894059 diff --git a/CommenSence/select_nth_largest_poker/example49/input/instruction.txt b/CommenSence/select_nth_largest_poker/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example49/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example49/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example49/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example5/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d419afbdf1380def0fac86a9335df9bdbeb93f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example5/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.4822392246845844e-05, + -0.00010175701939337721, + 0.011998584881562777 + ], + "orientation": [ + 0.9999999999981207, + -3.501449190991561e-08, + 1.8047646751060644e-08, + -1.9387654884069186e-06 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.2512421771233254, + 0.19992208090514507, + 0.7779983590407391 + ], + "orientation": [ + 0.7071076681496179, + -1.2034983858322149e-08, + 3.741786733629329e-08, + 0.7071058942223641 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.25124443649244643, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920797, + -0.5000000000008582, + 0.5000000000007914, + 0.4999999999991421 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.1307758066560149, + 0.19992177844389436, + 0.77799835469392 + ], + "orientation": [ + 0.7071076681491397, + -1.2034983819063743e-08, + 3.741786727834054e-08, + 0.707105894222842 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1307780660841308, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007933, + 0.4999999999991404 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + 2.2594926631172534e-06, + 0.1999214500918271, + 0.7779983499750212 + ], + "orientation": [ + 0.7071076681486325, + -1.203498376694185e-08, + 3.741786721480947e-08, + 0.7071058942233492 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6264683887163445e-15, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992082, + -0.5000000000008589, + 0.5000000000007917, + 0.4999999999991421 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 0.10003368110828548, + 0.19992128992887226, + 0.7779983463633247 + ], + "orientation": [ + 0.7071064524637986, + -1.2008255231023421e-08, + 3.739178804465136e-08, + 0.7071071099091428 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10003132531933379, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.500000000000793, + 0.49999999999914035 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example5/input/input.png b/CommenSence/select_nth_largest_poker/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5b3e33cb91e63d9eda46a3b18447ee598d21f052 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b14200e805830b480d2a82336ea5d01f1b710317bee592dfa95d4f40c8c24f1 +size 992048 diff --git a/CommenSence/select_nth_largest_poker/example5/input/input_mask.png b/CommenSence/select_nth_largest_poker/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b88bc4481f5b767ced325df48fb968121ac81e75 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d75361bf32f25adefb39fa6b01e1cf51efc4aebb6645c0c215373b975789ba68 +size 891650 diff --git a/CommenSence/select_nth_largest_poker/example5/input/instruction.txt b/CommenSence/select_nth_largest_poker/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example5/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example5/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example5/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example50/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..62ebc066c29d2690a2b20880911dc5d3c92b6be4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example50/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1723075307813952e-05, + -0.00010164182268201387, + 0.011998584804498572 + ], + "orientation": [ + 0.9999999999979717, + -3.49929999010793e-08, + 2.012776245278485e-08, + -2.0140075450016118e-06 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.25702827078881935, + 0.19992220886365053, + 0.7779983602501845 + ], + "orientation": [ + 0.7071077026053525, + -1.055461088853426e-08, + 3.88679063527282e-08, + 0.7071058597665411 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.25702748263081654, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008598, + 0.5000000000007927, + 0.49999999999914113 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.10794555595942597, + 0.19992182005286951, + 0.7779983542506707 + ], + "orientation": [ + 0.7071077026047851, + -1.0554610835129544e-08, + 3.886790627890132e-08, + 0.7071058597671086 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10794476786194017, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914063 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -7.880532570675747e-07, + 0.1999215385301148, + 0.7779983499066649 + ], + "orientation": [ + 0.707107702604383, + -1.055461078859777e-08, + 3.8867906224863925e-08, + 0.7071058597675101 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626367614409937e-15, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 0.10310567468123151, + 0.1999211091355699, + 0.7779983457547196 + ], + "orientation": [ + 0.7071173405499334, + -1.0515871413727387e-08, + 3.8872131167455017e-08, + 0.7070962216654733 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10310762190949105, + 0.19999999999996834, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008625, + 0.5000000000007956, + 0.4999999999991377 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example50/input/input.png b/CommenSence/select_nth_largest_poker/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cd3d42928660d7f3aaca4312ce355168510d5a67 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1adf117c9448f0763e735ef67fb035ad19c7a079144fbaab6200a846ea9ad83f +size 909118 diff --git a/CommenSence/select_nth_largest_poker/example50/input/input_mask.png b/CommenSence/select_nth_largest_poker/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cec4b72eb6a044b92a98fc1b15bb51c78596f3dc --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ffd0838476a68adb695f26ee9aedd4e5f659e0d5db2dbc0bc7ce2fa70c918c1 +size 806361 diff --git a/CommenSence/select_nth_largest_poker/example50/input/instruction.txt b/CommenSence/select_nth_largest_poker/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example50/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example50/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example50/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example51/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2976201e1ad0f166d8b93a9ec6380e8e749ddf90 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example51/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0189950734753867e-05, + -0.00010120029060653312, + 0.01199858454117384 + ], + "orientation": [ + 0.9999999999973682, + -3.49067190644025e-08, + 2.7868011637177605e-08, + -2.293727530749967e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.21479421063201712, + 0.19992251789263224, + 0.7779983616461298 + ], + "orientation": [ + 0.7071078307125811, + -5.041590972981893e-09, + 4.4259147861646155e-08, + 0.7071057316589547 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2147820824182386, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.10610671682900238, + 0.19992219512729856, + 0.7779983555899549 + ], + "orientation": [ + 0.7071078307122263, + -5.041590921584326e-09, + 4.4259147802213334e-08, + 0.7071057316593096 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10609458863282863, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -1.2128178689913751e-05, + 0.19992188006156472, + 0.7779983496782592 + ], + "orientation": [ + 0.7071078307118877, + -5.0415908654085956e-09, + 4.425914774370884e-08, + 0.7071057316596481 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.13392154467266693, + 0.19992584590456347, + 0.7779983422074076 + ], + "orientation": [ + 0.7071098490613883, + -5.0283821879158556e-09, + 4.424621402433936e-08, + 0.7071037132983949 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1339384993991625, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example51/input/input.png b/CommenSence/select_nth_largest_poker/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0571c152d4d921e7823444f790fb4c27dee1577a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc8e7f4e74b6836d210228c26e387c553baebcb54d17147685ddd8b13274d88a +size 992724 diff --git a/CommenSence/select_nth_largest_poker/example51/input/input_mask.png b/CommenSence/select_nth_largest_poker/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5b64cece4343141416c49a7561bb257124272b6a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0abb6b3464188abbfcf72e91234d23da0f55bc69ec15435ba0b85480fc3131c4 +size 891766 diff --git a/CommenSence/select_nth_largest_poker/example51/input/instruction.txt b/CommenSence/select_nth_largest_poker/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example51/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example51/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example51/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example52/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5343f31636a8b370bcaf49b2a49ff2280d3c85e2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example52/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.859506714889639e-05, + -9.908147931924002e-05, + 0.011998532355809836 + ], + "orientation": [ + 0.9999999999999976, + -6.535905498661232e-08, + -4.527218465608477e-08, + 2.9319755407359783e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.2686606325941992, + 0.1999031620035855, + 0.7779982609971006 + ], + "orientation": [ + 0.7071067805476255, + -7.802342784376174e-08, + 1.4246764497597951e-08, + 0.7071067818254649 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26872767396137315, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991435 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.14753445299630852, + 0.19990316162342767, + 0.7779982719627694 + ], + "orientation": [ + 0.7071067805476107, + -7.802342782930192e-08, + 1.424676450100387e-08, + 0.70710678182548 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14760149467935996, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921313, + -0.5000000000008534, + 0.5000000000007868, + 0.4999999999991465 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 6.704206798347725e-05, + 0.1999031611601584, + 0.7779982853252738 + ], + "orientation": [ + 0.7071067805475931, + -7.802342781123838e-08, + 1.424676450543194e-08, + 0.7071067818254974 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.628863386311452e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.5000000000008599, + 0.5000000000007927, + 0.4999999999991408 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example52/input/input.png b/CommenSence/select_nth_largest_poker/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..36aa6799356a425e228e3b16db07dbc7dc6bcad9 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4059337a4b2f2bbf9e3f6d4e624125330e402ba1d2400e4fa0f5f371c36ec661 +size 990261 diff --git a/CommenSence/select_nth_largest_poker/example52/input/input_mask.png b/CommenSence/select_nth_largest_poker/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b428e36dcc2f00ad33f36228a3f7f60dfb640822 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:374db18ab61afcb33fe70b88058f7d8193a77a6695cffe73326e62dcb553c926 +size 893591 diff --git a/CommenSence/select_nth_largest_poker/example52/input/instruction.txt b/CommenSence/select_nth_largest_poker/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example52/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example52/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example52/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example53/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..46ea3b9af46060de12d2d8d203fb195f47faaea9 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example53/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.0244054656550405e-05, + -9.916151216702661e-05, + 0.011998532216638422 + ], + "orientation": [ + 0.9999999999999972, + -6.539631166240237e-08, + -3.975283822336835e-08, + 2.5170068045464214e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.2630236799962872, + 0.19990308357004055, + 0.7779982642577984 + ], + "orientation": [ + 0.7071067806295375, + -7.41620517007783e-08, + 1.816072453738518e-08, + 0.7071067817435542 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26308255961287597, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.10218295191684683, + 0.19990308312424665, + 0.7779982770436547 + ], + "orientation": [ + 0.707106780629522, + -7.416205168478511e-08, + 1.8160724540414823e-08, + 0.7071067817435693 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10224183185697333, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008564, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 5.888014579379297e-05, + 0.19990308284085895, + 0.7779982851712562 + ], + "orientation": [ + 0.7071067806295123, + -7.416205167481681e-08, + 1.8160724542106993e-08, + 0.7071067817435794 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.633779685167933e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992059, + -0.5000000000008612, + 0.5000000000007943, + 0.4999999999991399 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example53/input/input.png b/CommenSence/select_nth_largest_poker/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6ca3417ada5a399fa0e2b760e4a3f5e1cf4083cd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb24a14016effcc1019f3f8f2e601fe7901846703f666edef1c9a6b08cab000f +size 905846 diff --git a/CommenSence/select_nth_largest_poker/example53/input/input_mask.png b/CommenSence/select_nth_largest_poker/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..71fee55d3d1fe3090deb5d94aa380b2aa40f63d1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6946a85f8481173ca1b45b5fe5f146b843f684f9856f267d41f2368c5cb861e +size 807844 diff --git a/CommenSence/select_nth_largest_poker/example53/input/instruction.txt b/CommenSence/select_nth_largest_poker/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example53/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example53/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example53/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example54/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..aa34badee1061da9762f17f2aa353247a9371aaa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example54/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.237890211933695e-05, + -0.00010166622960482624, + 0.011998584820751848 + ], + "orientation": [ + 0.9999999999980032, + -3.4997575284792905e-08, + 1.9684560025584603e-08, + -1.9980303822413354e-06 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.2758785526580029, + 0.19992223357147781, + 0.7779983607786963 + ], + "orientation": [ + 0.7071076952726364, + -1.0870034097048707e-08, + 3.855894107377368e-08, + 0.707105867099277 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.275878409330639, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007907, + 0.4999999999991421 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.10831891855543123, + 0.1999218000411113, + 0.7779983541841213 + ], + "orientation": [ + 0.7071076952719917, + -1.087003403888801e-08, + 3.855894099124478e-08, + 0.7071058670999207 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10831877529890833, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008564, + 0.5000000000007891, + 0.4999999999991435 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -1.4321028251429902e-07, + 0.19992151978516415, + 0.7779983499210644 + ], + "orientation": [ + 0.7071076952715846, + -1.087003399277987e-08, + 3.855894093742412e-08, + 0.7071058671003281 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621400954632108e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 0.11785076721973055, + 0.19992568124092427, + 0.7779983452749049 + ], + "orientation": [ + 0.7071096540053371, + -1.0856427764730523e-08, + 3.854562778080843e-08, + 0.7071039083560856 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.11785585816053275, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example54/input/input.png b/CommenSence/select_nth_largest_poker/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0d7e2b8b5720c67f277095afe7237aec5ae099a4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b44edecc61f3e0f1730546b340472a97318c1b401c9ded6457e55a314c512303 +size 908243 diff --git a/CommenSence/select_nth_largest_poker/example54/input/input_mask.png b/CommenSence/select_nth_largest_poker/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..740b1e8c5bf5adc68068d66c710bff81ef118564 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cacd6e1d9f469007f60c29d7ec83da98073e2febc81dc3fa7b9431390b738b43 +size 805798 diff --git a/CommenSence/select_nth_largest_poker/example54/input/instruction.txt b/CommenSence/select_nth_largest_poker/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example54/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example54/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example54/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example55/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..282b6c60653146ca25a570b5f0a37873291ac790 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example55/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.882318764146037e-05, + -9.917411325316211e-05, + 0.011998532194720033 + ], + "orientation": [ + 0.9999999999999973, + -6.540215792292172e-08, + -3.881350475504734e-08, + 2.3479357664057644e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.2557323572835567, + 0.19990307120792133, + 0.7779982652937496 + ], + "orientation": [ + 0.7071067806509819, + -7.350453694781238e-08, + 1.8826490674669554e-08, + 0.7071067817221098 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.25578984824847345, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.10077076329166777, + 0.1999030707848329, + 0.7779982773211725 + ], + "orientation": [ + 0.7071067806509679, + -7.350453693320289e-08, + 1.882649067703352e-08, + 0.7071067817221235 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10082825455376661, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + 5.7491455468079324e-05, + 0.1999030705095353, + 0.7779982851470089 + ], + "orientation": [ + 0.7071067806509588, + -7.350453692351312e-08, + 1.8826490678699585e-08, + 0.7071067817221327 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example55/input/input.png b/CommenSence/select_nth_largest_poker/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bf3fa4127017ed0f0b938b13f34471adff3a9adb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59db18cf57523f6c3bd156419f2af79cd4221c9c8cc6115599b82f94dbfd2d82 +size 905801 diff --git a/CommenSence/select_nth_largest_poker/example55/input/input_mask.png b/CommenSence/select_nth_largest_poker/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6d6bb6c5720c9bfe16473bf6f78af324d9b6f42 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cde4e5dbfd5ecad6308991d776d54b9f5f9151c8305e4ae1fdf580f52567f73 +size 807631 diff --git a/CommenSence/select_nth_largest_poker/example55/input/instruction.txt b/CommenSence/select_nth_largest_poker/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example55/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example55/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example55/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example56/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5a065d1b4eee260e424d29a55916475c7f70244c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example56/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2594154747623106e-05, + -0.00010167440751877377, + 0.011998584825824006 + ], + "orientation": [ + 0.9999999999980134, + -3.499915529751467e-08, + 1.9544889608090182e-08, + -1.992904729115547e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.2281900144628625, + 0.1999221023801025, + 0.7779983588425458 + ], + "orientation": [ + 0.7071076929525149, + -1.096951801057048e-08, + 3.846168699298894e-08, + 0.7071058694194035 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2281900828541711, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.1394077244431993, + 0.1999218732533313, + 0.7779983553731746 + ], + "orientation": [ + 0.7071076929521729, + -1.0969517979539757e-08, + 3.846168694937568e-08, + 0.7071058694197445 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13940779287257268, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.5000000000007933, + 0.4999999999991404 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 6.848961744781893e-08, + 0.1999215134730523, + 0.7779983499254963 + ], + "orientation": [ + 0.7071076929516457, + -1.0969517921562498e-08, + 3.846168688033085e-08, + 0.7071058694202732 + ], + "class": "CardHolder" + }, + { + "name": "7_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468388716339e-15, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992082, + -0.5000000000008589, + 0.5000000000007917, + 0.4999999999991421 + ], + "class": "Poker", + "value": "7", + "suite": "clubs" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 0.10020118890853744, + 0.19992134610297307, + 0.7779983460076707 + ], + "orientation": [ + 0.7071064689056431, + -1.0942778770030005e-08, + 3.843559775124194e-08, + 0.7071070934673129 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10020102328657732, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992065, + -0.5000000000008603, + 0.500000000000793, + 0.49999999999914035 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "jack_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "jack_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example56/input/input.png b/CommenSence/select_nth_largest_poker/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..04dd496184c855f4d53f00e724b0d6666886e646 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b1233fa9acb45f5fb96f5afb35d1cc18c771cbd2bd72a7e0fce2d6de7ab40b5 +size 908139 diff --git a/CommenSence/select_nth_largest_poker/example56/input/input_mask.png b/CommenSence/select_nth_largest_poker/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..866b1c233728b7b32790bb80ad3f0bba1dfa8bfd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b1c294ad2272b10d0b927fbfb8457727f9abcb0c578efd4418224f9d681308a +size 805976 diff --git a/CommenSence/select_nth_largest_poker/example56/input/instruction.txt b/CommenSence/select_nth_largest_poker/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example56/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example56/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example56/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example57/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..eae28905fcab0d87f347cfefe47f1484c7f230aa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example57/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.950985511438607e-06, + -0.00010115149682951222, + 0.011998584515132525 + ], + "orientation": [ + 0.9999999999972994, + -3.489672771371545e-08, + 2.869834659655544e-08, + -2.3237638187863544e-06 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.21333778649746166, + 0.19992255986631013, + 0.7779983618971149 + ], + "orientation": [ + 0.7071078444680785, + -4.449666276335828e-09, + 4.483697084964194e-08, + 0.7071057179034165 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21332444009176046, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.11257089681015375, + 0.1999222567096112, + 0.7779983561149691 + ], + "orientation": [ + 0.7071078444677551, + -4.449666227795539e-09, + 4.483697079401689e-08, + 0.7071057179037396 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11255755041876454, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -1.334637509100058e-05, + 0.19992191808028792, + 0.7779983496562584 + ], + "orientation": [ + 0.7071078444674029, + -4.449666167099746e-09, + 4.4836970731385835e-08, + 0.7071057179040924 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 0.14688742487849626, + 0.19993528745791553, + 0.777998341220641 + ], + "orientation": [ + 0.7071388737492221, + -4.374267019898627e-09, + 4.484355714585689e-08, + 0.7070746871672619 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.14691884280141834, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example57/input/input.png b/CommenSence/select_nth_largest_poker/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1e47d62196b80724df3b975aa6f5fff8d1659800 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66c08e9daf930219daba7346c736fa2a2fcb9571b3767286644dbfb163404fe1 +size 992334 diff --git a/CommenSence/select_nth_largest_poker/example57/input/input_mask.png b/CommenSence/select_nth_largest_poker/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5c94f0381b64fdd480768e3c901bb5fd8842d247 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff11e8d6639943d2109ecdd27e3b9a64205e043f3fdf8ea66876c97274125379 +size 891571 diff --git a/CommenSence/select_nth_largest_poker/example57/input/instruction.txt b/CommenSence/select_nth_largest_poker/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example57/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example57/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example58/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b685eb97dfb435865b2c7346c848c497d761409a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example58/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.567833998433747e-05, + -9.911059556643084e-05, + 0.011998532305190166 + ], + "orientation": [ + 0.9999999999999971, + -6.537263148481327e-08, + -4.3344643867445585e-08, + 2.8810884731794906e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.27313170657672503, + 0.19990313348430344, + 0.7779982615895946 + ], + "orientation": [ + 0.7071067805690634, + -7.667530569273198e-08, + 1.5614048454509027e-08, + 0.7071067818040288 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2731958973033311, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.12527906007374698, + 0.1999031330421786, + 0.7779982744049364 + ], + "orientation": [ + 0.7071067805690454, + -7.667530567608882e-08, + 1.5614048458121127e-08, + 0.7071067818040454 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12534325115383774, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 6.419137976794075e-05, + 0.19990313266734974, + 0.7779982852692439 + ], + "orientation": [ + 0.7071067805690316, + -7.667530566182864e-08, + 1.5614048461366553e-08, + 0.7071067818040594 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example58/input/input.png b/CommenSence/select_nth_largest_poker/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..70fa20f1d5c0963bb28b4666c1a0fffd5d8bd1aa --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a50e721dc57d4f9113d4f523d144eaf91832201557972bbe32a2edb94b97f03e +size 905574 diff --git a/CommenSence/select_nth_largest_poker/example58/input/input_mask.png b/CommenSence/select_nth_largest_poker/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d4ea7888058f9782e6e4bc6872cda66934f284c9 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ec1ce1184909876f952be4639ba2dd9c0c6410b41ce8e23ca1688296bac2776 +size 807401 diff --git a/CommenSence/select_nth_largest_poker/example58/input/instruction.txt b/CommenSence/select_nth_largest_poker/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example58/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example58/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example58/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example59/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e3074426af24d98b49a0c47041f4638fcdb6218e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example59/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.338928109246481e-05, + -9.913263558950403e-05, + 0.011998532266911919 + ], + "orientation": [ + 0.9999999999999968, + -6.538289833591122e-08, + -4.1830655760233225e-08, + 2.569810298227377e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.26014232973098705, + 0.19990311186226095, + 0.7779982634610675 + ], + "orientation": [ + 0.7071067806065519, + -7.561613850648426e-08, + 1.668770622479124e-08, + 0.7071067817665385 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2602042833132324, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.124211224354357, + 0.19990311146368345, + 0.7779982748315573 + ], + "orientation": [ + 0.7071067806065368, + -7.561613849205498e-08, + 1.6687706227699403e-08, + 0.707106781766554 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12427317823932775, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 6.195416173935698e-05, + 0.19990311109927714, + 0.777998285226874 + ], + "orientation": [ + 0.7071067806065242, + -7.561613847868972e-08, + 1.6687706230475477e-08, + 0.7071067817665662 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example59/input/input.png b/CommenSence/select_nth_largest_poker/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a5f54a0a77aaf95c5d568ca5a4e558a5311b3d95 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e6b074286d5d8efef7d02e4d62db5bae06d1e14591fa30468f9a4237d11faa2 +size 991678 diff --git a/CommenSence/select_nth_largest_poker/example59/input/input_mask.png b/CommenSence/select_nth_largest_poker/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0ca7bad1f3440edb88d54846660b33bc57a1d6eb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1688084a1268e231a3fde406afa2bd54d1cdb3724c988687389d250b0fcf984 +size 894015 diff --git a/CommenSence/select_nth_largest_poker/example59/input/instruction.txt b/CommenSence/select_nth_largest_poker/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example59/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example59/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example59/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example6/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..605d79b2b07d6882a3ff0d37223f48859c0d7951 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example6/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.4922530807606779e-05, + -0.00010138395965925193, + 0.011998584644777717 + ], + "orientation": [ + 0.9999999999976257, + -3.4943383057397504e-08, + 2.4692704695356964e-08, + -2.179024488191803e-06 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.216571629644265, + 0.19992234852008034, + 0.7779983604590968 + ], + "orientation": [ + 0.707107778184782, + -7.304108139137794e-09, + 4.2048379229718563e-08, + 0.7071057841869063 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21656415474015953, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.12466148990422454, + 0.19992208920667512, + 0.7779983559213695 + ], + "orientation": [ + 0.707107778184462, + -7.304108100062516e-09, + 4.204837918135065e-08, + 0.7071057841872259 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1246540150230102, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -7.474849795716424e-06, + 0.1999217375098116, + 0.777998349767033 + ], + "orientation": [ + 0.7071077781840369, + -7.3041080398141436e-09, + 4.2048379115107495e-08, + 0.7071057841876515 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 0.12357707503366476, + 0.19992578570319253, + 0.7779983436575499 + ], + "orientation": [ + 0.7071097834745229, + -7.29069334230527e-09, + 4.203524587599576e-08, + 0.7071037788858233 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.12358941704671643, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example6/input/input.png b/CommenSence/select_nth_largest_poker/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f949d07b763746e619f67c36b68f34d1f111219a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6767c05b8983d59e95172e445746203f7e61f8925793358e01195d166b4f6adb +size 908480 diff --git a/CommenSence/select_nth_largest_poker/example6/input/input_mask.png b/CommenSence/select_nth_largest_poker/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7b2dfa1836c52e2a55e2f6c45ab074352310ae5f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0d23c9256a6df8ad103add39415a243cdf1b38f366b43921093b28d4711a761 +size 806040 diff --git a/CommenSence/select_nth_largest_poker/example6/input/instruction.txt b/CommenSence/select_nth_largest_poker/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example6/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example6/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example6/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example60/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..79e8e67f38754a435dec4597f512de423e929757 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example60/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.050291830679401e-05, + -9.915930548250107e-05, + 0.011998532220566564 + ], + "orientation": [ + 0.9999999999999974, + -6.539529900365341e-08, + -3.992174629975304e-08, + 2.1445373288624402e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.23837461452751413, + 0.19990308568374374, + 0.7779982661410259 + ], + "orientation": [ + 0.707106780656332, + -7.428030511424652e-08, + 1.8041041859524882e-08, + 0.7071067817167597 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23843374721170046, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007901, + 0.4999999999991427 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.12825348894712985, + 0.19990308536815252, + 0.7779982749321783 + ], + "orientation": [ + 0.7071067806563204, + -7.428030510340142e-08, + 1.804104186150464e-08, + 0.7071067817167717 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12831262185473843, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920985, + -0.5000000000008563, + 0.5000000000007893, + 0.4999999999991441 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 5.913316794225135e-05, + 0.1999030850004162, + 0.7779982851755883 + ], + "orientation": [ + 0.7071067806563094, + -7.42803050906231e-08, + 1.80410418636867e-08, + 0.7071067817167827 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626361193956238e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992063, + -0.5000000000008605, + 0.5000000000007934, + 0.4999999999991402 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example60/input/input.png b/CommenSence/select_nth_largest_poker/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d0928a2c04e7aec167bd0ef623c3a5bda448b7a7 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21a8577dd10a6e6d9a28192a4d9b0ae7f509f5c56eb907d9773205b71de04791 +size 924163 diff --git a/CommenSence/select_nth_largest_poker/example60/input/input_mask.png b/CommenSence/select_nth_largest_poker/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..92b67cccc4a54c505746215213b519474bcacadf --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4644c07141e25acaaaa59f98c5650ecb0cf4647a73d9c42e9aaca90aca36222 +size 824574 diff --git a/CommenSence/select_nth_largest_poker/example60/input/instruction.txt b/CommenSence/select_nth_largest_poker/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example60/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example60/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example60/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example61/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..29c5acfcb082ee49f70661f035d66c950a8790f0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example61/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.42903933126744e-05, + -0.00010173734053220028, + 0.011998584868247963 + ], + "orientation": [ + 0.9999999999980955, + -3.50108559185107e-08, + 1.8403762355789924e-08, + -1.95167183170402e-06 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.2461150396821734, + 0.19992208722260787, + 0.7779983590191404 + ], + "orientation": [ + 0.7071076740563466, + -1.1781577455172537e-08, + 3.7666142051534444e-08, + 0.7071058883156206 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2461167759371604, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.14360577829953416, + 0.19992182813792828, + 0.7779983552472729 + ], + "orientation": [ + 0.7071076740559433, + -1.1781577421453019e-08, + 3.766614200196085e-08, + 0.7071058883160244 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14360751460317595, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 1.7363723395982741e-06, + 0.19992146517966042, + 0.7779983499631798 + ], + "orientation": [ + 0.7071076740553884, + -1.1781577364170874e-08, + 3.766614193195439e-08, + 0.7071058883165793 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 0.11112108063711987, + 0.19992565940346882, + 0.7779983458665404 + ], + "orientation": [ + 0.707109634687661, + -1.1767853097866032e-08, + 3.765271299552492e-08, + 0.7071039276739189 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.11112430378170361, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example61/input/input.png b/CommenSence/select_nth_largest_poker/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..352932386e37cd128d642c3f204b66991d2ebc1d --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adacf8513fe919000383ec0338f2b664e56d3e042d9a60445a7d471827c3aabd +size 907327 diff --git a/CommenSence/select_nth_largest_poker/example61/input/input_mask.png b/CommenSence/select_nth_largest_poker/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ed610053eaa6eeb62b068ecc2c6ac2819cfb855c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b6d8430e59be7bcee6cb560704ed139b7c31b12920eead0ead427bf0f0ab285 +size 806023 diff --git a/CommenSence/select_nth_largest_poker/example61/input/instruction.txt b/CommenSence/select_nth_largest_poker/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example61/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example61/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example61/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example62/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bff6a396ddd9b71fb5994f6d3658d3fa8eaa5b6c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example62/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.640205977382757e-05, + -9.930927821252175e-05, + 0.011998532044808649 + ], + "orientation": [ + 0.9999999999999969, + -6.547668415191653e-08, + -3.720194668180915e-08, + 9.329797242190886e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.20065199228201147, + 0.199882839894678, + 0.7779982700372382 + ], + "orientation": [ + 0.7077389559131292, + -7.241847449924516e-08, + 1.9978625972575422e-08, + 0.7064740407707765 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2059182374393866, + 0.1988381671653656, + 0.9104006854605309 + ], + "orientation": [ + 0.6669701456463659, + -0.4496412395457631, + 0.49416542945093145, + 0.3298092006778961 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.14024755840179884, + 0.1999229949039081, + 0.7779982745256325 + ], + "orientation": [ + 0.7077389581471679, + -7.246045293818161e-08, + 1.992049160972007e-08, + 0.7064740385327372 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13509157396404026, + 0.20116183283447608, + 0.9104006854601041 + ], + "orientation": [ + 0.4941654294583942, + -0.32980920067991726, + 0.6669701456432134, + 0.4496412395407541 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + 5.512117041736849e-05, + 0.1999029384749111, + 0.777998284967324 + ], + "orientation": [ + 0.707106773741055, + -7.242196403211033e-08, + 2.0014249064251194e-08, + 0.7071067886320357 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6164343286983735e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920813, + -0.5000000000008579, + 0.5000000000007909, + 0.4999999999991421 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example62/input/input.png b/CommenSence/select_nth_largest_poker/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a70af699dd539f02d5bdc2da84a4463b939a67e0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5949862c8b7cdbcd4adcac1e2ff261cbf2a9d02761dc577a1a3b25bf1425242f +size 908188 diff --git a/CommenSence/select_nth_largest_poker/example62/input/input_mask.png b/CommenSence/select_nth_largest_poker/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a4729b89db78a012601cfeae752f374767cbf206 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7ede15a16964bebd8577be3a243c4492a0dfd9d8800c288981b32cc1faf9ebb +size 808376 diff --git a/CommenSence/select_nth_largest_poker/example62/input/instruction.txt b/CommenSence/select_nth_largest_poker/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example62/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example62/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example62/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example63/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..635dc5bb5895d78835be92869033be34f1b46082 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example63/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.3308001668332087e-05, + -0.00010132170863024833, + 0.011998584608716396 + ], + "orientation": [ + 0.9999999999975395, + -3.493108355705912e-08, + 2.5776821731594886e-08, + -2.2181835176604723e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.21638791723947462, + 0.1999224071915701, + 0.7779983608879519 + ], + "orientation": [ + 0.7071077961224637, + -6.531788719739509e-09, + 4.2803338838949856e-08, + 0.7071057662491738 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21637885484830852, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992053, + -0.5000000000008619, + 0.5000000000007948, + 0.49999999999913924 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.10829161158173975, + 0.19992209673709332, + 0.7779983553167494 + ], + "orientation": [ + 0.7071077961220962, + -6.531788671837885e-09, + 4.28033387811874e-08, + 0.707105766249541 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1082825492140791, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920947, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991434 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -9.06234379701912e-06, + 0.19992178574724542, + 0.7779983497359482 + ], + "orientation": [ + 0.7071077961217349, + -6.531788617419604e-09, + 4.280333872284148e-08, + 0.7071057662499026 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62646823684221e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 0.11754927888469441, + 0.1999258177695032, + 0.77799834366912 + ], + "orientation": [ + 0.7071098299526402, + -6.518322437041499e-09, + 4.279015052787866e-08, + 0.7071037324073094 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.11756317910961596, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example63/input/input.png b/CommenSence/select_nth_largest_poker/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0e0ec767748913a549ef38764678c0b952c71707 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f033469e4b46498298bdb820356227d9899fc174106307735e93ab735de81327 +size 906963 diff --git a/CommenSence/select_nth_largest_poker/example63/input/input_mask.png b/CommenSence/select_nth_largest_poker/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5bfc98c02a5e9b1c44f359eb17c0f6fa40318168 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5cb31654eefeabad036bbd606011e4303184c3ce505c5cb30d2705aa16272c7 +size 805468 diff --git a/CommenSence/select_nth_largest_poker/example63/input/instruction.txt b/CommenSence/select_nth_largest_poker/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example63/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example63/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example63/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example64/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3a741f04b165b021fe2e315005e8abf6b0210c30 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example64/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.5045137089877714e-05, + -0.00010176500599695688, + 0.01199858488751651 + ], + "orientation": [ + 0.9999999999981309, + -3.5015888123579365e-08, + 1.789144877026709e-08, + -1.933213393424511e-06 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.2804471416202062, + 0.199922146113309, + 0.777998360012345 + ], + "orientation": [ + 0.7071076655682552, + -1.2146011208328635e-08, + 3.730881080305819e-08, + 0.7071058968037334 + ], + "class": "CardHolder" + }, + { + "name": "2_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2804496199368485, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007907, + 0.4999999999991421 + ], + "class": "Poker", + "value": "2", + "suite": "diamonds" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.14048326540910058, + 0.19992179571875496, + 0.7779983550057101 + ], + "orientation": [ + 0.7071076655676979, + -1.2146011164379208e-08, + 3.730881073612372e-08, + 0.7071058968042906 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14048574379508955, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008564, + 0.5000000000007891, + 0.4999999999991435 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 2.478456198574645e-06, + 0.19992144401688494, + 0.7779983499804074 + ], + "orientation": [ + 0.7071076655671498, + -1.2146011109054773e-08, + 3.730881066813075e-08, + 0.7071058968048382 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621400954632108e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 0.1370152383524501, + 0.19992562866466657, + 0.7779983450714245 + ], + "orientation": [ + 0.7071095523287766, + -1.2132613616290441e-08, + 3.729571329413324e-08, + 0.7071040100334574 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.137017771845218, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example64/input/input.png b/CommenSence/select_nth_largest_poker/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..894b91fcc0b8787b17dd3dca4e1c6b1062ed1c48 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d572797efde1c17d079aacb4f5fe5763ffabb9c673cdd446587092dcd10d856c +size 992895 diff --git a/CommenSence/select_nth_largest_poker/example64/input/input_mask.png b/CommenSence/select_nth_largest_poker/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..eb24cafda1988cc81688c843bdff9b3a9a5b443e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5d34a196f6cfc7d6d115d664174b84f47aac2672e00360dc419d1f0cc875ba9 +size 891656 diff --git a/CommenSence/select_nth_largest_poker/example64/input/instruction.txt b/CommenSence/select_nth_largest_poker/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example64/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example64/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example64/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example65/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..80aab83dcaf584204ea333d7e5a702cd5d17370e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example65/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.551197373555321e-05, + -9.911219955481768e-05, + 0.011998532302386998 + ], + "orientation": [ + 0.9999999999999978, + -6.537337687337596e-08, + -4.3235018239465415e-08, + 2.933569870929877e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.27625582234626234, + 0.19990313191835493, + 0.7779982613762967 + ], + "orientation": [ + 0.7071067805660709, + -7.659861550222271e-08, + 1.5691790683172096e-08, + 0.7071067818070212 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2763198504663939, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992125, + -0.5000000000008539, + 0.5000000000007871, + 0.4999999999991461 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.12116365910776, + 0.19990313145773997, + 0.7779982747851351 + ], + "orientation": [ + 0.7071067805660519, + -7.659861548501148e-08, + 1.5691790686814943e-08, + 0.7071067818070388 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12122768759680881, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 6.402877741971331e-05, + 0.1999031310976868, + 0.7779982852661447 + ], + "orientation": [ + 0.7071067805660389, + -7.659861547127789e-08, + 1.5691790689831337e-08, + 0.7071067818070518 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example65/input/input.png b/CommenSence/select_nth_largest_poker/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..24b8d73f7f7b0fd980401085537f0dcdf8b22bea --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d6e0ce1596fcc9821c12531778a408c2c1f796a04254ee381a6dafdf68065bc +size 923066 diff --git a/CommenSence/select_nth_largest_poker/example65/input/input_mask.png b/CommenSence/select_nth_largest_poker/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..69f3987fb617fe545c74e4b216c991b4ff9a62dd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f51d74dd1137fe0c600abd2f8f52b2d099df57c7e1f882888f81541739b5a1a +size 823835 diff --git a/CommenSence/select_nth_largest_poker/example65/input/instruction.txt b/CommenSence/select_nth_largest_poker/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example65/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example65/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example65/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example66/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa1c6bae11de1ed846c8e8ec68b2f61357dc2ac --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example66/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.821233894476396e-05, + -9.917950155516621e-05, + 0.011998532185393205 + ], + "orientation": [ + 0.9999999999999974, + -6.540466187762632e-08, + -3.8408467513085194e-08, + 2.053015749875564e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.23775652226471558, + 0.1999030658930733, + 0.7779982668712931 + ], + "orientation": [ + 0.707106780677121, + -7.32210036385815e-08, + 1.911355805237639e-08, + 0.7071067816959706 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23781341626933683, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007901, + 0.4999999999991427 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.11491524424954101, + 0.19990306555400092, + 0.7779982763061856 + ], + "orientation": [ + 0.7071067806771091, + -7.322100362713737e-08, + 1.9113558054273053e-08, + 0.707106781695983 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11497213848487955, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920985, + -0.5000000000008563, + 0.5000000000007893, + 0.4999999999991441 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 5.689445127721512e-05, + 0.19990306523664064, + 0.7779982851366843 + ], + "orientation": [ + 0.707106780677101, + -7.322100361630553e-08, + 1.9113558055893573e-08, + 0.7071067816959912 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626361193956238e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992063, + -0.5000000000008605, + 0.5000000000007934, + 0.4999999999991402 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "queen_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "queen_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example66/input/input.png b/CommenSence/select_nth_largest_poker/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9709871692dc69a871d56b1bdb92c130941d8eda --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86d7e2c2cc2f63edf13daec1d640c134890048a9ef4d6110973b51953b6cd730 +size 991093 diff --git a/CommenSence/select_nth_largest_poker/example66/input/input_mask.png b/CommenSence/select_nth_largest_poker/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d395afe93132138479642d09bbfc61b944b26084 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f7621c31f3a842cf8efb9b09dfe5aa7f284dc33428789d349527de72b0eee18 +size 893874 diff --git a/CommenSence/select_nth_largest_poker/example66/input/instruction.txt b/CommenSence/select_nth_largest_poker/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example66/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example66/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example66/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example67/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5c539277856a0af0266ea4fd856fcc88a6f1e26a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example67/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.9168582482939584e-05, + -0.00010154578501132305, + 0.01199858474305267 + ], + "orientation": [ + 0.9999999999978443, + -3.4974781888707716e-08, + 2.1842011921813583e-08, + -2.0760073673535632e-06 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.22276917739164115, + 0.1999222113110074, + 0.7779983595809675 + ], + "orientation": [ + 0.70710773099974, + -9.334260167130378e-09, + 4.0062544101861786e-08, + 0.7071058313720787 + ], + "class": "CardHolder" + }, + { + "name": "5_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2227658774720277, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "5", + "suite": "spades" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.14782180502420303, + 0.1999220098391808, + 0.7779983563079537 + ], + "orientation": [ + 0.7071077309994633, + -9.334260138692673e-09, + 4.0062544063945826e-08, + 0.7071058313723547 + ], + "class": "CardHolder" + }, + { + "name": "9_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.147818505130253, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008603, + 0.5000000000007931, + 0.49999999999914047 + ], + "class": "Poker", + "value": "9", + "suite": "hearts" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -3.2998428592026186e-06, + 0.19992161247614254, + 0.7779983498525965 + ], + "orientation": [ + 0.7071077309989281, + -9.334260073440618e-09, + 4.006254398837113e-08, + 0.7071058313728903 + ], + "class": "CardHolder" + }, + { + "name": "king_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "king", + "suite": "spades" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + 0.12529103935457744, + 0.1999257206028196, + 0.7779983443729488 + ], + "orientation": [ + 0.7071096969070344, + -9.320800762032707e-09, + 4.0049373417129415e-08, + 0.7071038654540371 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.12529926049529702, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008626, + 0.5000000000007956, + 0.49999999999913763 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example67/input/input.png b/CommenSence/select_nth_largest_poker/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..859b3e82748b897027a94741ecf0405dc7c2a514 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d020cef24faabb79722821d86f408f1684ae4fb93412d0506072138ed5c2f5a +size 993481 diff --git a/CommenSence/select_nth_largest_poker/example67/input/input_mask.png b/CommenSence/select_nth_largest_poker/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..266ee1dc9278e1d9f1646a7496a76b0c658366c4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6059ff1eee7e588290677e686864062901304d14866376ef2f3468ae92c8ea9 +size 892051 diff --git a/CommenSence/select_nth_largest_poker/example67/input/instruction.txt b/CommenSence/select_nth_largest_poker/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example67/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example67/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example67/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example68/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c93c349096906e2b1b7928057195224d753e03c5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example68/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.9888598822516327e-05, + -0.00010157283874654206, + 0.01199858476029555 + ], + "orientation": [ + 0.9999999999978806, + -3.498006301947578e-08, + 2.135468978020909e-08, + -2.0584520234095853e-06 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.2638109463915909, + 0.19992229480733506, + 0.7779983611313518 + ], + "orientation": [ + 0.7071077229372177, + -9.681261687400029e-09, + 3.972299684765867e-08, + 0.7071058394346222 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26380835439415873, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920564, + -0.5000000000008613, + 0.5000000000007946, + 0.4999999999991398 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.12721861791800143, + 0.19992193073193507, + 0.7779983552993601 + ], + "orientation": [ + 0.7071077229367078, + -9.681261637341912e-09, + 3.972299677888104e-08, + 0.707105839435132 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12721602596966755, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -2.5919021165232213e-06, + 0.1999215916475835, + 0.7779983498677023 + ], + "orientation": [ + 0.7071077229362448, + -9.681261581241645e-09, + 3.972299671422486e-08, + 0.7071058394355955 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62646823684221e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 0.14075984673310463, + 0.19993507756268, + 0.7779983438515045 + ], + "orientation": [ + 0.7071394352225245, + -9.606795979687782e-09, + 3.97290262211961e-08, + 0.707074125642544 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.14078065809407117, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920414, + -0.5000000000008625, + 0.5000000000007955, + 0.499999999999138 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example68/input/input.png b/CommenSence/select_nth_largest_poker/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8abfccb79097fb211073a1471082e607d3305702 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cc9ced83fe7044f4a6f33f69c8efbf0269bfad4cf2e56d6813eeda3b2a1622a +size 907984 diff --git a/CommenSence/select_nth_largest_poker/example68/input/input_mask.png b/CommenSence/select_nth_largest_poker/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a620a1055b1eaa75201ac0c32b225912df4d1ae0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0baa326267c5d737e048ec8ee9cd0d973d334a1ef7ad881c16798193a8d10388 +size 806175 diff --git a/CommenSence/select_nth_largest_poker/example68/input/instruction.txt b/CommenSence/select_nth_largest_poker/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example68/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example68/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example68/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example69/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ff90383cd4bf2036632c2ceae22510bb12b50b40 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example69/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.481743953973587e-05, + -9.911901474429033e-05, + 0.011998532290598276 + ], + "orientation": [ + 0.9999999999999971, + -6.537655889478677e-08, + -4.2774584528517765e-08, + 2.6502474747780233e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.2616531183740201, + 0.19990312521180445, + 0.7779982628667775 + ], + "orientation": [ + 0.7071067805918214, + -7.627654103092716e-08, + 1.6018356243039206e-08, + 0.7071067817812703 + ], + "class": "CardHolder" + }, + { + "name": "7_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2617164677468512, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "7", + "suite": "hearts" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.13142322309381346, + 0.19990312482203726, + 0.7779982740061864 + ], + "orientation": [ + 0.707106780591807, + -7.627654101664578e-08, + 1.6018356246083803e-08, + 0.7071067817812849 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13148657276988823, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 6.334998225240577e-05, + 0.19990312442849512, + 0.7779982852530871 + ], + "orientation": [ + 0.7071067805917925, + -7.627654100196603e-08, + 1.6018356249154165e-08, + 0.7071067817812994 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example69/input/input.png b/CommenSence/select_nth_largest_poker/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..322aedcb74de75c422977c9492dbfcb88c3a43b5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e59e32bd618a5c312e6e16119ba878316901729523936d6d4705d0f852b31bcc +size 906603 diff --git a/CommenSence/select_nth_largest_poker/example69/input/input_mask.png b/CommenSence/select_nth_largest_poker/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aeb2f9376e6d2c2fd3a2012f60018286177b6477 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46d74f2073a2490859ce89048e1ce2a25c5f2d3712f0f475e30ff761684659ad +size 807767 diff --git a/CommenSence/select_nth_largest_poker/example69/input/instruction.txt b/CommenSence/select_nth_largest_poker/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example69/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example69/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example7/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6761cf13459177ac0890ae6006796aedb8bff5af --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example7/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.19413283525336e-05, + -9.91460791918002e-05, + 0.011998532243485975 + ], + "orientation": [ + 0.9999999999999977, + -6.538914366198549e-08, + -4.087467011940133e-08, + 2.657329466970481e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.2679255982919168, + 0.1999030987029958, + 0.7779982632965166 + ], + "orientation": [ + 0.7071067806086191, + -7.494717974498639e-08, + 1.736547961109967e-08, + 0.7071067817644717 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2679861367082707, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.107656948628272, + 0.1999030982487507, + 0.777998276396432 + ], + "orientation": [ + 0.7071067806086022, + -7.494717972841791e-08, + 1.7365479614364826e-08, + 0.70710678176449 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10771748738543335, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008564, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 6.053898622468575e-05, + 0.19990309794343944, + 0.7779982852009609 + ], + "orientation": [ + 0.7071067806085918, + -7.494717971733924e-08, + 1.736547961633692e-08, + 0.7071067817644994 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.633779685167933e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992059, + -0.5000000000008612, + 0.5000000000007943, + 0.4999999999991399 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example7/input/input.png b/CommenSence/select_nth_largest_poker/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ea0b22075e492b479d56d14a102aad6885b4d886 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7b31f0f2a9524a6df7a5197cbaebc0effc28ba6196915359b0adf8123fb623 +size 922647 diff --git a/CommenSence/select_nth_largest_poker/example7/input/input_mask.png b/CommenSence/select_nth_largest_poker/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fb9dea9af411bce6fd11d097d247ea2ebd53fcbe --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f53810dab1be46f7ff1c484efc64a56d549ab115af135421a83bb47a773a6c88 +size 823533 diff --git a/CommenSence/select_nth_largest_poker/example7/input/instruction.txt b/CommenSence/select_nth_largest_poker/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example7/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example7/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/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/CommenSence/select_nth_largest_poker/example70/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dce5e95bc38c95eef43b07d7fe57c3ff3c78d396 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example70/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.0902789511294084e-05, + -0.000101610941582211, + 0.011998584784762342 + ], + "orientation": [ + 0.9999999999979317, + -3.498713684416332e-08, + 2.067367029475571e-08, + -2.033822915894537e-06 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.27518294389403153, + 0.19992228702302867, + 0.7779983612637874 + ], + "orientation": [ + 0.7071077116539278, + -1.0165955699128478e-08, + 3.9248286562279205e-08, + 0.7071058507179416 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.27518134911623815, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007916, + 0.49999999999914124 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.11812617369288349, + 0.1999218734040405, + 0.7779983547719238 + ], + "orientation": [ + 0.7071077116533349, + -1.0165955642955017e-08, + 3.924828648398055e-08, + 0.7071058507185357 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11812457897548845, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992102, + -0.5000000000008563, + 0.5000000000007891, + 0.499999999999144 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -1.594671490629141e-06, + 0.199921562314772, + 0.7779983498893032 + ], + "orientation": [ + 0.7071077116528984, + -1.0165955591595882e-08, + 3.924828642445446e-08, + 0.7071058507189721 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621451394319715e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921163, + -0.500000000000855, + 0.5000000000007881, + 0.49999999999914513 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 0.13642954808576552, + 0.1999256853722792, + 0.7779983442420715 + ], + "orientation": [ + 0.707109634462003, + -1.0152613677336976e-08, + 3.923523763602605e-08, + 0.707103927899578 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.13643610345424614, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992041, + -0.5000000000008626, + 0.5000000000007956, + 0.4999999999991377 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example70/input/input.png b/CommenSence/select_nth_largest_poker/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b90bb2f9e627304c9fd819a20cca78a5d32826e6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3a182db1eb1afb5a18128ba2363089861584e30259cfad48fdedb7c41ea9fbb +size 993416 diff --git a/CommenSence/select_nth_largest_poker/example70/input/input_mask.png b/CommenSence/select_nth_largest_poker/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8e9b50f3d0a2a0e3b56bcdb2081008dcdde33f21 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:823175de912aa44159ac37cc5fcdd2b35265c125cf205ba171f01ebee48c1eb5 +size 892095 diff --git a/CommenSence/select_nth_largest_poker/example70/input/instruction.txt b/CommenSence/select_nth_largest_poker/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example70/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example70/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example70/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example71/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0175017a1cb4ca15d96fb55a04f0764b684e016c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example71/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.213891898697423e-05, + -9.914432677543634e-05, + 0.011998532246587661 + ], + "orientation": [ + 0.9999999999999974, + -6.538833614882874e-08, + -4.1003983911529377e-08, + 2.440401370087338e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.25493290336130775, + 0.1999031003957814, + 0.7779982642959723 + ], + "orientation": [ + 0.707106780623941, + -7.503769130313477e-08, + 1.7273828331284182e-08, + 0.7071067817491505 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.25499363493014715, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "queen", + "suite": "hearts" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.1217626497346901, + 0.19990310001069372, + 0.7779982752153761 + ], + "orientation": [ + 0.7071067806239271, + -7.503769128935845e-08, + 1.7273828334009464e-08, + 0.7071067817491647 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12182338158852228, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 6.0732114547169514e-05, + 0.1999030996584061, + 0.7779982852043839 + ], + "orientation": [ + 0.707106780623916, + -7.503769127670878e-08, + 1.727382833639416e-08, + 0.707106781749176 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "king_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "king_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example71/input/input.png b/CommenSence/select_nth_largest_poker/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3cf077befac384cc72a6d8039041b0ea79f66d73 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13ad061f59ba396e077063b2494da7d1519b12c340810cb49aa66d9abe4924a3 +size 991661 diff --git a/CommenSence/select_nth_largest_poker/example71/input/input_mask.png b/CommenSence/select_nth_largest_poker/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4e6d98daae304db50f82ef4363959b8a1ef79533 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b0f1c96c89bfdc8f86db0f55f26d650bf5612ac8f81b3c5d4e94648e310ddc2 +size 893850 diff --git a/CommenSence/select_nth_largest_poker/example71/input/instruction.txt b/CommenSence/select_nth_largest_poker/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example71/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example71/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example71/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example72/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d2b02001edaac39e6332bcbbf46846a664563d3b --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example72/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.106220977803635e-05, + -9.915414291773093e-05, + 0.011998532229471372 + ], + "orientation": [ + 0.9999999999999974, + -6.539289177348375e-08, + -4.029330377099031e-08, + 2.5326405819170714e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.2625691201624715, + 0.19990309079115307, + 0.7779982640242239 + ], + "orientation": [ + 0.7071067806234126, + -7.454032604398108e-08, + 1.7777623378727632e-08, + 0.7071067817496784 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2626287993969563, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.10761728712688272, + 0.19990309035527065, + 0.7779982765094164 + ], + "orientation": [ + 0.7071067806233973, + -7.454032602846439e-08, + 1.7777623381575665e-08, + 0.7071067817496941 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10767696668158233, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008564, + 0.5000000000007894, + 0.4999999999991436 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 5.9679777223484366e-05, + 0.19990309005236306, + 0.7779982851854524 + ], + "orientation": [ + 0.7071067806233868, + -7.454032601751625e-08, + 1.777762338363615e-08, + 0.7071067817497044 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.633779685167933e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992059, + -0.5000000000008612, + 0.5000000000007943, + 0.4999999999991399 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example72/input/input.png b/CommenSence/select_nth_largest_poker/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2a64d49461256c4d0b6d1807b7ee401f6863bcdd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6a0ad1c76180f8b5c80865f917014ac14cb007a208d2415c9ae2924b50376ec +size 922720 diff --git a/CommenSence/select_nth_largest_poker/example72/input/input_mask.png b/CommenSence/select_nth_largest_poker/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..30dde848d6a918c369946570cba475aac757706a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77ee283d46520a2ca8b46d35966925f211686386a5a82b4b16291d7d2b301137 +size 823677 diff --git a/CommenSence/select_nth_largest_poker/example72/input/instruction.txt b/CommenSence/select_nth_largest_poker/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example72/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example72/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example72/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example73/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..37ff525088cd273dfdec95870815e955c1a1a74c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example73/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.672109219269526e-05, + -0.00010182677020161228, + 0.01199858493020395 + ], + "orientation": [ + 0.9999999999982091, + -3.50272305777247e-08, + 1.677061767806883e-08, + -1.8925907114704615e-06 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.26784161900094766, + 0.19992205320048156, + 0.7779983589992558 + ], + "orientation": [ + 0.7071076469883387, + -1.2943503024939837e-08, + 3.65273275342806e-08, + 0.7071059153836955 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26784574532287087, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008598, + 0.5000000000007927, + 0.49999999999914113 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.1343617363397681, + 0.19992172603941125, + 0.7779983545237301 + ], + "orientation": [ + 0.7071076469877986, + -1.294350298423403e-08, + 3.652732747143587e-08, + 0.7071059153842365 + ], + "class": "CardHolder" + }, + { + "name": "3_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13436586273440246, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914063 + ], + "class": "Poker", + "value": "3", + "suite": "diamonds" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + 4.12646838833168e-06, + 0.19992139670601836, + 0.777998350018498 + ], + "orientation": [ + 0.7071076469872642, + -1.294350293291093e-08, + 3.6527327407511794e-08, + 0.7071059153847704 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626367614409937e-15, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 0.10770506041076629, + 0.1999209751825414, + 0.7779983464046836 + ], + "orientation": [ + 0.7071174521829925, + -1.2904735607196419e-08, + 3.653149416660745e-08, + 0.7070961100290626 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10770212003654037, + 0.19999999999996834, + 0.8925568704314483 + ], + "orientation": [ + 0.4999999999992038, + -0.5000000000008625, + 0.5000000000007956, + 0.4999999999991377 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example73/input/input.png b/CommenSence/select_nth_largest_poker/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ea7a2bc09479c3f91642e73164a63b9111c5ddc0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5967748ba6d3f37be273e4fe1733dd2f029c227b0688ff5330263a4a7501c37 +size 991542 diff --git a/CommenSence/select_nth_largest_poker/example73/input/input_mask.png b/CommenSence/select_nth_largest_poker/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d2c67ae8ace6fcc79cf8697e0fd042eab1a79732 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e745ea4eaa028487225743a02f57d3b0b4baec715aff292cbcfa0bc861f708ba +size 891603 diff --git a/CommenSence/select_nth_largest_poker/example73/input/instruction.txt b/CommenSence/select_nth_largest_poker/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example73/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example73/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example73/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example74/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3efd22340716457e2ffc1a30be176ae741c5cb17 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example74/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.650145388441312e-05, + -0.00010181857594429182, + 0.011998584924751036 + ], + "orientation": [ + 0.9999999999981991, + -3.502570738915855e-08, + 1.6914035960606407e-08, + -1.8978454148197704e-06 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.295572172796461, + 0.19992212945284038, + 0.7779983600089756 + ], + "orientation": [ + 0.707107649372624, + -1.2841417183757155e-08, + 3.6627263751913525e-08, + 0.7071059129994048 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2955760830983198, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992081, + -0.500000000000858, + 0.5000000000007907, + 0.4999999999991421 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.12038858048340532, + 0.19992169889638045, + 0.7779983540849003 + ], + "orientation": [ + 0.7071076493719152, + -1.2841417130770318e-08, + 3.662726366917528e-08, + 0.7071059130001139 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1203924908795088, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008564, + 0.5000000000007891, + 0.4999999999991435 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + 3.910461423557423e-06, + 0.19992140300166986, + 0.777998350013662 + ], + "orientation": [ + 0.707107649371438, + -1.2841417084101236e-08, + 3.662726361175737e-08, + 0.7071059130005909 + ], + "class": "CardHolder" + }, + { + "name": "3_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621400954632108e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992067, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "3", + "suite": "hearts" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 0.1225965067479978, + 0.19992561997899638, + 0.7779983458600866 + ], + "orientation": [ + 0.7071095618555926, + -1.2827808241630603e-08, + 3.661395534232049e-08, + 0.7071040005065677 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1225976016610411, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example74/input/input.png b/CommenSence/select_nth_largest_poker/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..52b2108a11f808fd04fd84db2ce97d2926f0a4f0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cf53aadd4995f7cc8c5f6b7d529b39e580fd0e79b3806566c1a3025fc691e57 +size 990452 diff --git a/CommenSence/select_nth_largest_poker/example74/input/input_mask.png b/CommenSence/select_nth_largest_poker/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..afb9099aec7b20e50d0945971e482ae7ab7c39dd --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ab49158319e2134062863dab5f6130aa253f7dd630d04e84949cb6d24311505 +size 890360 diff --git a/CommenSence/select_nth_largest_poker/example74/input/instruction.txt b/CommenSence/select_nth_largest_poker/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example74/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example74/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example74/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/CommenSence/select_nth_largest_poker/example75/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c5b20260b9d66c852e135f294adb3a219db745c4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example75/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.456930677395063e-05, + -9.912143118012779e-05, + 0.011998532286417486 + ], + "orientation": [ + 0.9999999999999969, + -6.537768671067179e-08, + -4.2610098687991904e-08, + 2.5500595176331144e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.2557917816821487, + 0.19990312283163247, + 0.7779982634476827 + ], + "orientation": [ + 0.7071067806009436, + -7.616147651527387e-08, + 1.613501255203976e-08, + 0.7071067817721471 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2558548885633528, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921324, + -0.5000000000008532, + 0.5000000000007867, + 0.4999999999991467 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.1357335565754113, + 0.19990312247134967, + 0.7779982736775525 + ], + "orientation": [ + 0.7071067806009299, + -7.616147650192964e-08, + 1.6135012554956402e-08, + 0.7071067817721608 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1357966637340379, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 6.310747242412119e-05, + 0.19990312206382366, + 0.7779982852484564 + ], + "orientation": [ + 0.7071067806009151, + -7.616147648696298e-08, + 1.61350125582227e-08, + 0.7071067817721753 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626354950639134e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.4999999999991406 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example75/input/input.png b/CommenSence/select_nth_largest_poker/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a672caab9be1b330bb24c5e3f34cbf332298c4e1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:961cee992f71e85515044f93c12ebd6a543054ddb791024bab8890fdfd2b9ca4 +size 922026 diff --git a/CommenSence/select_nth_largest_poker/example75/input/input_mask.png b/CommenSence/select_nth_largest_poker/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a017c14a862546ce826d85022b87900b7f0199d4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8f8ed6a17a725e1310196536ffb7a27787af92bad235cc07d284a66212fbbfa +size 823496 diff --git a/CommenSence/select_nth_largest_poker/example75/input/instruction.txt b/CommenSence/select_nth_largest_poker/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example75/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example75/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example75/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example76/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..55337b60ca62b5891d5c9e149e4122a137c34c3a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example76/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.952840121135099e-05, + -9.916802271509288e-05, + 0.01199853220540844 + ], + "orientation": [ + 0.9999999999999973, + -6.53993454496413e-08, + -3.927736926065578e-08, + 2.009319599034901e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.23031774841094477, + 0.19990307712446212, + 0.7779982670643782 + ], + "orientation": [ + 0.7071067806725041, + -7.382927904889367e-08, + 1.8497779059315792e-08, + 0.707106781700588 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23037592867908946, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007901, + 0.4999999999991427 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.1303323773663018, + 0.1999030768403409, + 0.7779982749175391 + ], + "orientation": [ + 0.7071067806724941, + -7.382927903927693e-08, + 1.849777906097262e-08, + 0.7071067817005979 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13039055783082287, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920985, + -0.5000000000008563, + 0.5000000000007893, + 0.4999999999991441 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 5.8180720617150826e-05, + 0.19990307646980898, + 0.7779982851588176 + ], + "orientation": [ + 0.7071067806724822, + -7.382927902658793e-08, + 1.8497779062981095e-08, + 0.7071067817006096 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626361193956238e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992063, + -0.5000000000008605, + 0.5000000000007934, + 0.4999999999991402 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example76/input/input.png b/CommenSence/select_nth_largest_poker/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..51b3393bf0c8edd65b7e79c5a7181e2377437a83 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94431c884676fde0beb324f66ef2b7d8da734156efc04cf37fc1f1922c907906 +size 922342 diff --git a/CommenSence/select_nth_largest_poker/example76/input/input_mask.png b/CommenSence/select_nth_largest_poker/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a766055bb81ebc966e485e72408d6289b462b600 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6db35515d29020ace289f6900adfc20644c40c10b15602883f29bc4eb653ae6f +size 823868 diff --git a/CommenSence/select_nth_largest_poker/example76/input/instruction.txt b/CommenSence/select_nth_largest_poker/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example76/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example76/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example76/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/CommenSence/select_nth_largest_poker/example77/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..326aa601ebd06cfef9224472c940a82b158b8696 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example77/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1024421051355531e-05, + -0.0001012326937806574, + 0.01199858455777164 + ], + "orientation": [ + 0.9999999999974148, + -3.491281180078166e-08, + 2.7306858372919128e-08, + -2.273586322477491e-06 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.20794106036033846, + 0.19992246703225425, + 0.7779983610451183 + ], + "orientation": [ + 0.707107821494829, + -5.441163177817162e-09, + 4.3868175609370516e-08, + 0.7071057408767337 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20792975269552547, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.13154475156570059, + 0.1999222421488198, + 0.7779983568739673 + ], + "orientation": [ + 0.7071078214945755, + -5.441163142775238e-09, + 4.386817556780944e-08, + 0.7071057408769867 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13153344391431956, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -1.1307627891578605e-05, + 0.19992185496081202, + 0.7779983496923919 + ], + "orientation": [ + 0.7071078214941506, + -5.44116307496719e-09, + 4.386817549571034e-08, + 0.7071057408774127 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + 0.14700448311640762, + 0.1999352437178828, + 0.77799834165928 + ], + "orientation": [ + 0.7071388027593951, + -5.365146798469654e-09, + 4.3874734286083626e-08, + 0.707074758163525 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1470338738751164, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example77/input/input.png b/CommenSence/select_nth_largest_poker/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9f8423dae931b6b248ef2026becc3b058776edeb --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40b0aa07634fcea75018cd6828203c27c8b0499bf4633c414420b301b779c464 +size 993570 diff --git a/CommenSence/select_nth_largest_poker/example77/input/input_mask.png b/CommenSence/select_nth_largest_poker/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..730566da9c6188a5dd2cc23698d9d15e1c8271f1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3969d0daf48b5df5f8f94c211c8eac76253770c35ff2568bc6e41f31e880d46 +size 891939 diff --git a/CommenSence/select_nth_largest_poker/example77/input/instruction.txt b/CommenSence/select_nth_largest_poker/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example77/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example77/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example77/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/CommenSence/select_nth_largest_poker/example78/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d873e8c1e95e8a462fa38783ed7193731efb956f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example78/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.289375802328327e-05, + -9.922343857400401e-05, + 0.011998532108860299 + ], + "orientation": [ + 0.9999999999999977, + -6.542496785970306e-08, + -3.489388704157302e-08, + 1.545835977382474e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.20907215188737344, + 0.19990302277913394, + 0.7779982704599353 + ], + "orientation": [ + 0.707106780747854, + -7.07597635256742e-08, + 2.1603457933870787e-08, + 0.7071067816252374 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.20912384786840546, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.4999999999991434 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.11110570956306663, + 0.19990302252656975, + 0.7779982772957822 + ], + "orientation": [ + 0.707106780747846, + -7.075976351791351e-08, + 2.160345793476758e-08, + 0.7071067816252451 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11115740569601126, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "queen", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + 5.169630531195284e-05, + 0.19990302223999226, + 0.7779982850520606 + ], + "orientation": [ + 0.7071067807478391, + -7.075976350885256e-08, + 2.1603457935773904e-08, + 0.7071067816252534 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.631321581098202e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914063 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example78/input/input.png b/CommenSence/select_nth_largest_poker/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d877db60886072d4989481551e3fc5beab5e6a29 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57fe454629b1b0d3d20f1bbf5538716a2b70dd05205ddabbd7e9edc1278de118 +size 991379 diff --git a/CommenSence/select_nth_largest_poker/example78/input/input_mask.png b/CommenSence/select_nth_largest_poker/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1ff02b0f2327cb895d851062e2da4c92e576c11a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fd11c51a633f1282d39daa2b79b7b0fcb374016688053003649bcef09bf2bb7 +size 893724 diff --git a/CommenSence/select_nth_largest_poker/example78/input/instruction.txt b/CommenSence/select_nth_largest_poker/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example78/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example78/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example78/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/CommenSence/select_nth_largest_poker/example79/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94d84771b956ab3e9c4722b54b797117adeb8e8f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example79/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.729841641418221e-05, + -9.909463237076923e-05, + 0.011998532332985224 + ], + "orientation": [ + 0.9999999999999974, + -6.536519623201887e-08, + -4.44143953246969e-08, + 2.757791585281073e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.2613823445590667, + 0.19990314910067106, + 0.7779982620793222 + ], + "orientation": [ + 0.7071067805686915, + -7.742355774844915e-08, + 1.4855302316754793e-08, + 0.7071067818044005 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26144811868598805, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991435 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.14684268775626627, + 0.19990314874499943, + 0.7779982722522342 + ], + "orientation": [ + 0.707106780568678, + -7.742355773496298e-08, + 1.4855302319896892e-08, + 0.707106781804414 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.146908462170703, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921313, + -0.5000000000008534, + 0.5000000000007868, + 0.4999999999991465 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 6.577478321399183e-05, + 0.1999031482887984, + 0.7779982853000019 + ], + "orientation": [ + 0.7071067805686614, + -7.742355771765565e-08, + 1.4855302324040445e-08, + 0.7071067818044303 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.628863386311452e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.5000000000008599, + 0.5000000000007927, + 0.4999999999991408 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example79/input/input.png b/CommenSence/select_nth_largest_poker/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e85c14f517d23715c01b83fecc8d30b6927b2192 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:411d213df5092dca915f57577000511065ff228b3ca9a2a2f3e8cf568da4f660 +size 923377 diff --git a/CommenSence/select_nth_largest_poker/example79/input/input_mask.png b/CommenSence/select_nth_largest_poker/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..023afbd1ef89c15b90145f2f54a9f468ac752d79 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c5c8a88775e42013885c46e9e52a960c1c0842644e8dc955734bd01dfb27a12 +size 824064 diff --git a/CommenSence/select_nth_largest_poker/example79/input/instruction.txt b/CommenSence/select_nth_largest_poker/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example79/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example79/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example79/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/CommenSence/select_nth_largest_poker/example8/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f88932f117458fe5d6f3ae1208c618fb2572e5e2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example8/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.882501787783809e-06, + -0.00010114881034669902, + 0.011998584513691898 + ], + "orientation": [ + 0.9999999999972956, + -3.4896174292368774e-08, + 2.8744912821180064e-08, + -2.325437587746067e-06 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.20853222023511536, + 0.19992254795329525, + 0.7779983616395612 + ], + "orientation": [ + 0.70710784523849, + -4.416473437823003e-09, + 4.486938256707604e-08, + 0.7071057171330035 + ], + "class": "CardHolder" + }, + { + "name": "6_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2085188065011031, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "6", + "suite": "diamonds" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.11123305851879581, + 0.1999222550176119, + 0.777998356047338 + ], + "orientation": [ + 0.707107845238178, + -4.4164733907128065e-09, + 4.486938251338501e-08, + 0.7071057171333143 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11121964479850734, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -1.3413704300597274e-05, + 0.1999219201714831, + 0.7779983496550419 + ], + "orientation": [ + 0.707107845237831, + -4.41647333073876e-09, + 4.486938245130138e-08, + 0.7071057171336628 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "queen", + "suite": "spades" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 0.14123219428042952, + 0.199935310308833, + 0.7779983415307841 + ], + "orientation": [ + 0.7071389418490122, + -4.3398744522073124e-09, + 4.487619327906671e-08, + 0.7070746190612814 + ], + "class": "CardHolder" + }, + { + "name": "5_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.14126369249019816, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "5", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example8/input/input.png b/CommenSence/select_nth_largest_poker/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e5fe72470182cc3a53f521c3998cf940b2ad68f3 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0f0aa87b5ed6735f0dc8b7c61a881f0e8f5bf41a28c614209fdbca0d6ca848a +size 992002 diff --git a/CommenSence/select_nth_largest_poker/example8/input/input_mask.png b/CommenSence/select_nth_largest_poker/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4dee8be975de78ba0393b5e59c477552a6119482 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb0fdc88c11359bc8b6381af77ea6184ab5f49bfa76fbdb7cc2a14f7c01fe686 +size 891482 diff --git a/CommenSence/select_nth_largest_poker/example8/input/instruction.txt b/CommenSence/select_nth_largest_poker/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example8/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example8/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example8/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example80/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4c33a77bf850aae0b24e4f67c6d34fd829c42189 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example80/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.093895628402373e-05, + -5.747328394509666e-05, + 0.011998612689829716 + ], + "orientation": [ + 0.9999999999997674, + -1.0004257953267746e-08, + 8.35369356328789e-09, + -6.819560337180585e-07 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.2760911713639516, + 0.19996367558098146, + 0.7779983923937485 + ], + "orientation": [ + 0.707107093052692, + -1.2123881348091246e-09, + 1.2934097443032475e-08, + 0.7071064693202643 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2761014433355723, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.49999999999914324 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.14867383195946826, + 0.19996356287886377, + 0.7779983902661847 + ], + "orientation": [ + 0.7071070930520067, + -1.2123881372289369e-09, + 1.2934097422390239e-08, + 0.7071064693209504 + ], + "class": "CardHolder" + }, + { + "name": "6_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1486841040982136, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "6", + "suite": "hearts" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -6.889701187969697e-06, + 0.19997594948403136, + 0.7779983877785673 + ], + "orientation": [ + 0.7071406536083381, + -1.140727906466105e-09, + 1.2939578114601505e-08, + 0.7070729071420931 + ], + "class": "CardHolder" + }, + { + "name": "3_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.627646958251553e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.5000000000008599, + 0.5000000000007927, + 0.4999999999991408 + ], + "class": "Poker", + "value": "3", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "3_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "3_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example80/input/input.png b/CommenSence/select_nth_largest_poker/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..621d66b3673372a58cb700c0d3b8ac63b711870d --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96bfaed344daedd24589e5260f873b937b4c0de80cb56aca058250efbc416c33 +size 990789 diff --git a/CommenSence/select_nth_largest_poker/example80/input/input_mask.png b/CommenSence/select_nth_largest_poker/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bf1c4922b439052f772de2a825d99d02951c054f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60618e73f561c11f6e6b2fc45c89cb0f98f7a2163ca9558424df68360bcf2c58 +size 893701 diff --git a/CommenSence/select_nth_largest_poker/example80/input/instruction.txt b/CommenSence/select_nth_largest_poker/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example80/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example80/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example80/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example81/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fb509a8ddcd50c10c2a8b68341df6b4566f4e716 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example81/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.636342724257515e-05, + -9.910379842692028e-05, + 0.011998532316956004 + ], + "orientation": [ + 0.9999999999999973, + -6.536945744021206e-08, + -4.379858157033857e-08, + 3.1138301573433523e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.28378549139589915, + 0.19990314016411603, + 0.7779982604214728 + ], + "orientation": [ + 0.7071067805472183, + -7.699280946639875e-08, + 1.529206485042419e-08, + 0.7071067818258728 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2838503516474413, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.4999999999991434 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -0.11889135597042153, + 0.19990313967311432, + 0.7779982748635913 + ], + "orientation": [ + 0.7071067805471986, + -7.699280944743719e-08, + 1.5292064854865477e-08, + 0.7071067818258928 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11895621662445796, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920963, + -0.5000000000008563, + 0.5000000000007894, + 0.4999999999991437 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 6.486094440750946e-05, + 0.1999031393188864, + 0.7779982852822749 + ], + "orientation": [ + 0.7071067805471856, + -7.699280943359379e-08, + 1.5292064858046536e-08, + 0.7071067818259058 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6325380112227226e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920663, + -0.5000000000008602, + 0.5000000000007931, + 0.49999999999914063 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example81/input/input.png b/CommenSence/select_nth_largest_poker/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dbbefae3e6371076b44b3def7a781316232835d9 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfe736ce4bb108758bd3e99120dc21789fbb387adaf3a384b83e1eba379aa810 +size 906008 diff --git a/CommenSence/select_nth_largest_poker/example81/input/input_mask.png b/CommenSence/select_nth_largest_poker/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0035f177300dcbcd74caaafc07cad93633b0cd62 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af2d4fab01eb68d4c19e1dd03a4e6d280ad0ddc2b2e9e1b11180b2c5d48ae680 +size 807880 diff --git a/CommenSence/select_nth_largest_poker/example81/input/instruction.txt b/CommenSence/select_nth_largest_poker/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example81/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example81/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example81/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/CommenSence/select_nth_largest_poker/example82/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c1dbf3430b25dddf2c6ce15e5890d197e930c349 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example82/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.6566376852850632e-05, + -0.00010182109328206848, + 0.011998584926203369 + ], + "orientation": [ + 0.9999999999982019, + -3.5026208671172416e-08, + 1.687450510838134e-08, + -1.8963511333102146e-06 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.27874958016190227, + 0.19992208563485725, + 0.777998359419313 + ], + "orientation": [ + 0.7071076487109127, + -1.286960489275852e-08, + 3.6599783368238194e-08, + 0.7071059136611175 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2787535543472845, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.11583479300386172, + 0.19992168553619355, + 0.7779983539230025 + ], + "orientation": [ + 0.7071076487102543, + -1.2869604842644122e-08, + 3.659978329132331e-08, + 0.7071059136617763 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11583876727725737, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920897, + -0.5000000000008574, + 0.5000000000007903, + 0.4999999999991426 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 3.974336477354065e-06, + 0.19992140104974712, + 0.7779983500149116 + ], + "orientation": [ + 0.7071076487097947, + -1.2869604797603916e-08, + 3.6599783236030354e-08, + 0.7071059136622356 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621501768906167e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008564, + 0.5000000000007893, + 0.49999999999914346 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 0.10109181993261429, + 0.199921243599656, + 0.7779983466022407 + ], + "orientation": [ + 0.7071064395432235, + -1.2842880850408935e-08, + 3.6573707837951844e-08, + 0.7071071228297057 + ], + "class": "CardHolder" + }, + { + "name": "king_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1010877499517224, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.4999999999991423 + ], + "class": "Poker", + "value": "king", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example82/input/input.png b/CommenSence/select_nth_largest_poker/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4815d32978fa1d5fc8d0b1c6e5c52dfc7a8f792a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e54096829b0869064c7b01a351c15100837845867c97ecb38625c39afe86487 +size 991118 diff --git a/CommenSence/select_nth_largest_poker/example82/input/input_mask.png b/CommenSence/select_nth_largest_poker/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8680cbe3b90f66bf466c7340c79aae6b90111317 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:913c4f30d3fcfb6df8836572b29a6632910a5acb9c4965f26125bee6a036c822 +size 890943 diff --git a/CommenSence/select_nth_largest_poker/example82/input/instruction.txt b/CommenSence/select_nth_largest_poker/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example82/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example82/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example82/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example83/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d45bcf1831abf7f407a1ae71341fe170275a6eb2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example83/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.035951513121659e-05, + -9.916060529890028e-05, + 0.011998532218312576 + ], + "orientation": [ + 0.9999999999999974, + -6.539590336818438e-08, + -3.9826774065909874e-08, + 2.097974722794839e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.23504785351844198, + 0.199903084402738, + 0.7779982664487737 + ], + "orientation": [ + 0.7071067806607392, + -7.421383535004314e-08, + 1.8108364620749197e-08, + 0.7071067817123515 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23510684605747026, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.1306895949598561, + 0.1999030841034363, + 0.7779982747600477 + ], + "orientation": [ + 0.707106780660729, + -7.421383533961856e-08, + 1.8108364622719068e-08, + 0.707106781712362 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13074858770961204, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "jack", + "suite": "diamonds" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 5.8993013775904316e-05, + 0.1999030837284354, + 0.7779982851730934 + ], + "orientation": [ + 0.7071067806607172, + -7.421383532669358e-08, + 1.810836462483392e-08, + 0.707106781712374 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example83/input/input.png b/CommenSence/select_nth_largest_poker/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..10d9f6b1b6a96f91fcecc4b8ca9ab20cfb3859ce --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62c742d57170e24cf27c9d8be12cc202a8b445d503788ba24dbd89f64508620e +size 923425 diff --git a/CommenSence/select_nth_largest_poker/example83/input/input_mask.png b/CommenSence/select_nth_largest_poker/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6d660fbdcbed7025f25b5ee49261d3c96bfe52e2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56b6bfe0d32418edb8bd99f9b67174372fa938df6fb315e2a41933aa6624cf33 +size 824133 diff --git a/CommenSence/select_nth_largest_poker/example83/input/instruction.txt b/CommenSence/select_nth_largest_poker/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example83/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example83/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example83/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/CommenSence/select_nth_largest_poker/example84/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..865043158b012da38d50eadce29b00f8d8375d4c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example84/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.916352823839008e-05, + -9.91711728646771e-05, + 0.011998532199872647 + ], + "orientation": [ + 0.9999999999999967, + -6.540079931943098e-08, + -3.90375548010225e-08, + 2.2185559781003438e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.24712677548376133, + 0.19990307407339275, + 0.7779982658565965 + ], + "orientation": [ + 0.7071067806587767, + -7.366139023116114e-08, + 1.8667719863815514e-08, + 0.7071067817143143 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.24718459910172394, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + 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+ 0.7071067817143368 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example84/input/input.png b/CommenSence/select_nth_largest_poker/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..720cea14ea3f595d116abfa48b2d2526f70d84c5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4026b26feba50a12a2700a00097f16c3532ae15c032646693d662a339aa2200 +size 990858 diff --git a/CommenSence/select_nth_largest_poker/example84/input/input_mask.png b/CommenSence/select_nth_largest_poker/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..26320872db9402ac49a26d6569482679e47988e5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a90fa3bd9fa1c6254cbf262a36e5e04c8ec97707e64c9632807730e3d2028333 +size 893905 diff --git a/CommenSence/select_nth_largest_poker/example84/input/instruction.txt b/CommenSence/select_nth_largest_poker/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example84/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example84/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example84/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example85/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..302ab2f9113a304b05001da34315b79add491a46 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example85/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.3408541953316515e-05, + -9.921939510770865e-05, + 0.011998532115925083 + ], + "orientation": [ + 0.9999999999999973, + -6.542310599175475e-08, + -3.52335323909995e-08, + 1.507470367241634e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.2029314151410662, + 0.19990302672766103, + 0.7779982707583274 + ], + "orientation": [ + 0.7071067807476632, + -7.099768469402575e-08, + 2.136290893291695e-08, + 0.7071067816254286 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2029836142571379, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.1203540436703789, + 0.1999030265117613, + 0.77799827657645 + ], + "orientation": [ + 0.707106780747656, + -7.099768468736698e-08, + 2.1362908933678536e-08, + 0.7071067816254346 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12040624291700479, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + 5.219943698665569e-05, + 0.1999030261969508, + 0.7779982850598673 + ], + "orientation": [ + 0.7071067807476479, + -7.09976846773825e-08, + 2.1362908934969874e-08, + 0.7071067816254438 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example85/input/input.png b/CommenSence/select_nth_largest_poker/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0d4929f85ac472bbc2202837b9f9164e242863fc --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6b31de95de9907a9c3deecbda34b486ebc139159fb098361175999fe6bc7c37 +size 990968 diff --git a/CommenSence/select_nth_largest_poker/example85/input/input_mask.png b/CommenSence/select_nth_largest_poker/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..240bbb9111deb5aa075323e9c2f73569fbc24c06 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f24d0063589924155f78afc2d6b57c32647749f30209177a61af932eb12aeed +size 893694 diff --git a/CommenSence/select_nth_largest_poker/example85/input/instruction.txt b/CommenSence/select_nth_largest_poker/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example85/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example85/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example85/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example86/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d86e2fc41c30311e63b9ec0f367f4664bfc99f74 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example86/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.2655457287402446e-05, + -9.922531889190633e-05, + 0.011998532105591205 + ], + "orientation": [ + 0.9999999999999979, + -6.542583556436756e-08, + -3.473620300655799e-08, + 1.480268043063561e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.20282605021717592, + 0.19990302092317136, + 0.7779982709561457 + ], + "orientation": [ + 0.7071067807542838, + -7.064930711965135e-08, + 2.171513901394931e-08, + 0.7071067816188078 + ], + "class": "CardHolder" + }, + { + "name": "8_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2028775133082466, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "8", + "suite": "hearts" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.11587947200839899, + 0.19990302069892707, + 0.7779982769956386 + ], + "orientation": [ + 0.7071067807542777, + -7.064930711265586e-08, + 2.1715139014666476e-08, + 0.7071067816188136 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11593093523308233, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 5.1463402836533166e-05, + 0.19990302039992325, + 0.777998285048446 + ], + "orientation": [ + 0.7071067807542704, + -7.064930710348096e-08, + 2.1715139015642387e-08, + 0.7071067816188208 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example86/input/input.png b/CommenSence/select_nth_largest_poker/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e9d4f1ed067598019a9e1f57a57bb9109b18846f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf08f95f8ee79e2d14b7c110f85a7e9e88e649368001cb4c8f5a966c635ba325 +size 923464 diff --git a/CommenSence/select_nth_largest_poker/example86/input/input_mask.png b/CommenSence/select_nth_largest_poker/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..11b412dc661db7e8363eae3a8a86c6f510d72d68 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e34773b308e6e83d8f456d488a3f0eb5fc9534e67c48a9e7367e3094f0aa3d34 +size 824090 diff --git a/CommenSence/select_nth_largest_poker/example86/input/instruction.txt b/CommenSence/select_nth_largest_poker/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example86/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example86/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example86/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example87/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..61c141d3ef3a22e33ab755d487cef6313d3b8702 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example87/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1278962491601606e-05, + -0.00010124287817433421, + 0.011998584564447802 + ], + "orientation": [ + 0.9999999999974292, + -3.491532137423545e-08, + 2.7138128674305194e-08, + -2.2673577231509008e-06 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.21119825598226888, + 0.19992246690519871, + 0.7779983611573784 + ], + "orientation": [ + 0.7071078186412205, + -5.561779265405194e-09, + 4.3751101118320856e-08, + 0.7071057437303515 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21118719854040055, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007919, + 0.49999999999914163 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.10684128877594284, + 0.19992216055622708, + 0.7779983554948183 + ], + "orientation": [ + 0.7071078186408756, + -5.561779217018212e-09, + 4.37511010617055e-08, + 0.7071057437306952 + ], + "class": "CardHolder" + }, + { + "name": "king_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.10683023135291221, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "king", + "suite": "clubs" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -1.105740344675712e-05, + 0.199921846946318, + 0.7779983496980553 + ], + "orientation": [ + 0.7071078186405293, + -5.561779161445825e-09, + 4.3751101003283115e-08, + 0.7071057437310418 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626468236842208e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + 0.12405679923370125, + 0.1999258416270398, + 0.7779983429580036 + ], + "orientation": [ + 0.7071098527349506, + -5.54842812371194e-09, + 4.3738025442571806e-08, + 0.7071037096248016 + ], + "class": "CardHolder" + }, + { + "name": "5_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1240726805217529, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007944, + 0.4999999999991396 + ], + "class": "Poker", + "value": "5", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "5_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "5_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example87/input/input.png b/CommenSence/select_nth_largest_poker/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9905149f290257d511e73dcf6dadff232cb0d7de --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64fd65e62a77fd7de9c3a4267607204c7361bd75d38d795d5a3729197c26aa4f +size 923957 diff --git a/CommenSence/select_nth_largest_poker/example87/input/input_mask.png b/CommenSence/select_nth_largest_poker/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..65822548340e161ee91df7da4781b903ba633330 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba01791d4ec8ca76fa5b983040cc879069321af3630ae1636496f506fcf588b7 +size 821557 diff --git a/CommenSence/select_nth_largest_poker/example87/input/instruction.txt b/CommenSence/select_nth_largest_poker/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example87/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example87/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example87/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example88/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6236c176595e0232073b956d5cc4224bd209418e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example88/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5122267675952093e-05, + -0.00010139159748303513, + 0.011998584649321 + ], + "orientation": [ + 0.9999999999976359, + -3.494487190062667e-08, + 2.455743831270151e-08, + -2.1741534284955358e-06 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.23584346571224887, + 0.1999223954971451, + 0.7779983613507312 + ], + "orientation": [ + 0.7071077759464809, + -7.400442025598473e-09, + 4.195414674991823e-08, + 0.7071057864252145 + ], + "class": "CardHolder" + }, + { + "name": "6_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23583618718387006, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008613, + 0.5000000000007944, + 0.49999999999913985 + ], + "class": "Poker", + "value": "6", + "suite": "spades" + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.1111030232319534, + 0.1999220443452203, + 0.7779983552258689 + ], + "orientation": [ + 0.7071077759460449, + -7.400441973018699e-09, + 4.1954146684395594e-08, + 0.7071057864256504 + ], + "class": "CardHolder" + }, + { + "name": "king_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11109574473514179, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "king", + "suite": "diamonds" + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -7.2784683350387525e-06, + 0.1999217316034125, + 0.7779983497709729 + ], + "orientation": [ + 0.707107775945665, + -7.400441919068886e-09, + 4.1954146625493816e-08, + 0.7071057864260298 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626417825766297e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.4999999999991392 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 0.12790541131184127, + 0.19992577776631773, + 0.7779983434824108 + ], + "orientation": [ + 0.7071097685874514, + -7.38707954632952e-09, + 4.194106661616261e-08, + 0.7071037937730219 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.1279175664050047, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007946, + 0.4999999999991396 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example88/input/input.png b/CommenSence/select_nth_largest_poker/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1c962fb481542a552c981a39c23ca769850bb4c2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3315401ab5847764cd9c166ff721717bc4ef08a5b1283e947c0572c3060d011 +size 925785 diff --git a/CommenSence/select_nth_largest_poker/example88/input/input_mask.png b/CommenSence/select_nth_largest_poker/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..50f2dee7a03390442b846c13a146eb38a784675f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1969955a9fb8cde47fdd9f1c247814befe3a411a5cee4bc274448d1ac4d93d98 +size 822278 diff --git a/CommenSence/select_nth_largest_poker/example88/input/instruction.txt b/CommenSence/select_nth_largest_poker/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example88/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example88/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example88/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/CommenSence/select_nth_largest_poker/example89/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d8eaed72b0b690e9d789da5948f770934cd33c19 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example89/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5494350827672436e-05, + -0.00010140585277724768, + 0.01199858465777544 + ], + "orientation": [ + 0.9999999999976549, + -3.4947660077515744e-08, + 2.4306866433779956e-08, + -2.16511092251252e-06 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.23905425952847095, + 0.19992239070972762, + 0.7779983613959481 + ], + "orientation": [ + 0.7071077717999423, + -7.578911569847354e-09, + 4.177961250413121e-08, + 0.7071057905717636 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.23904734684461415, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920575, + -0.5000000000008613, + 0.5000000000007944, + 0.49999999999913985 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.11741156338691186, + 0.19992204970206728, + 0.777998355484139 + ], + "orientation": [ + 0.7071077717995151, + -7.578911519141951e-09, + 4.1779612440498554e-08, + 0.7071057905721916 + ], + "class": "CardHolder" + }, + { + "name": "10_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11740465073475843, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "10", + "suite": "spades" + }, + { + "name": "card_holder3", + "xml_path": null, + "position": [ + -6.91262116495981e-06, + 0.19992172057457763, + 0.777998349778298 + ], + "orientation": [ + 0.7071077717991111, + -7.578911462609955e-09, + 4.1779612378569725e-08, + 0.7071057905725953 + ], + "class": "CardHolder" + }, + { + "name": "3_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626417825766297e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.4999999999991392 + ], + "class": "Poker", + "value": "3", + "suite": "spades" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + 0.1349466846402237, + 0.19992576426744682, + 0.7779983432116548 + ], + "orientation": [ + 0.7071097434452648, + -7.565633584222051e-09, + 4.176661841586478e-08, + 0.7071038189154187 + ], + "class": "CardHolder" + }, + { + "name": "8_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.13495848986910042, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008614, + 0.5000000000007946, + 0.4999999999991396 + ], + "class": "Poker", + "value": "8", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "7_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "7_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example89/input/input.png b/CommenSence/select_nth_largest_poker/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..db30eab465dad6a279c92726605939ed4b892e8e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e247496ad3f8a328fc24fd965d4bf773aa6b151bc486254dcfc09aac61c857f2 +size 924729 diff --git a/CommenSence/select_nth_largest_poker/example89/input/input_mask.png b/CommenSence/select_nth_largest_poker/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8cffd8263d42012b72a8dbe0c17288fef0064229 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d86b1653402c9d3a0e86e639eae85e5ff25dd5db28f71e46b4989e986fd2607c +size 821763 diff --git a/CommenSence/select_nth_largest_poker/example89/input/instruction.txt b/CommenSence/select_nth_largest_poker/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example89/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example89/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example89/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/CommenSence/select_nth_largest_poker/example9/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..45dd30236c1ddb01643763f8fae1485eb1b98aed --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example9/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.1670578870566736e-05, + -5.749089536617516e-05, + 0.011998612714061375 + ], + "orientation": [ + 0.999999999999779, + -1.000330033261059e-08, + 7.859693281645721e-09, + -6.635820483892105e-07 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.2832489083380613, + 0.1999636642272958, + 0.7779983922580479 + ], + "orientation": [ + 0.7071070846362958, + -1.5596802475220093e-09, + 1.2585453761006778e-08, + 0.7071064777366691 + ], + "class": "CardHolder" + }, + { + "name": "10_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.283259898835671, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992096, + -0.5000000000008566, + 0.5000000000007894, + 0.49999999999914324 + ], + "class": "Poker", + "value": "10", + "suite": "clubs" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.14630688055614463, + 0.19996354635596383, + 0.777998390106723 + ], + "orientation": [ + 0.7071070846355524, + -1.5596802515052462e-09, + 1.258545373908959e-08, + 0.7071064777374122 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14631787123802165, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921, + -0.5000000000008563, + 0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -6.181704510445572e-06, + 0.19997594277271363, + 0.7779983878031391 + ], + "orientation": [ + 0.7071406882135141, + -1.4881783097863407e-09, + 1.2590875804181524e-08, + 0.7070728725336008 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.627646958251553e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920686, + -0.5000000000008599, + 0.5000000000007927, + 0.4999999999991408 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example9/input/input.png b/CommenSence/select_nth_largest_poker/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..883c99af3d4848209bcdd2488f77d0e98c736065 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ede61dc6ccb4b7a67306af3bd715d0661a426e84be781fbac8be51179f9bb7b +size 990332 diff --git a/CommenSence/select_nth_largest_poker/example9/input/input_mask.png b/CommenSence/select_nth_largest_poker/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d0090aa7427df4d605a4a1b45fe1d7c417a41966 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc303faf97fbc6af2e15ed253f6783048ead069cb69955ac13510a6ea14f9324 +size 893544 diff --git a/CommenSence/select_nth_largest_poker/example9/input/instruction.txt b/CommenSence/select_nth_largest_poker/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example9/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example9/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example9/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example90/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b47e38e55f30a58630687a6243f2588ed1e931f2 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example90/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.4706252632311871e-05, + -0.00010137566797775042, + 0.011998584639800237 + ], + "orientation": [ + 0.999999999997613, + -3.4941741901649985e-08, + 2.4839396614174546e-08, + -2.184292178359283e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.21225947655939115, + 0.19992234421992727, + 0.7779983603041363 + ], + "orientation": [ + 0.7071077806040656, + -7.199617762464721e-09, + 4.2150553063886015e-08, + 0.7071057817676151 + ], + "class": "CardHolder" + }, + { + "name": "4_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.21225178901001, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992069, + -0.5000000000008599, + 0.5000000000007928, + 0.49999999999914096 + ], + "class": "Poker", + "value": "4", + "suite": "diamonds" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.11241553948178067, + 0.19992206184034134, + 0.7779983553454185 + ], + "orientation": [ + 0.7071077806037199, + -7.199617719353285e-09, + 4.215055301128485e-08, + 0.7071057817679619 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11240785195685146, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920947, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991434 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -7.687497072174533e-06, + 0.1999217439268819, + 0.7779983497627181 + ], + "orientation": [ + 0.7071077806033385, + -7.199617664374761e-09, + 4.215055295154535e-08, + 0.7071057817683428 + ], + "class": "CardHolder" + }, + { + "name": "2_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626417932301564e-15, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992082, + -0.500000000000859, + 0.5000000000007919, + 0.4999999999991421 + ], + "class": "Poker", + "value": "2", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + 0.10853586582161612, + 0.19992127361896783, + 0.7779983443692844 + ], + "orientation": [ + 0.7071172123858496, + -7.160855632687077e-09, + 4.215486219232207e-08, + 0.7070963498333621 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10854467997634029, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992046, + -0.5000000000008623, + 0.5000000000007954, + 0.49999999999913847 + ], + "class": "Poker", + "value": "ace", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_hearts" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_hearts" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example90/input/input.png b/CommenSence/select_nth_largest_poker/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ef1ec1ff60c5a7ae96b585501d52bd001739132e --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7399f2d0d90531ad68710747f026488d5d9277929985da828345e413c88b0c16 +size 922569 diff --git a/CommenSence/select_nth_largest_poker/example90/input/input_mask.png b/CommenSence/select_nth_largest_poker/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..fd43a6e05f6fdef691512d24d946ccd5ced03f5b --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1e83fbfb5b676205b79f2e92551cb5c5751409665fba8a74ef30b53c996fdad +size 820539 diff --git a/CommenSence/select_nth_largest_poker/example90/input/instruction.txt b/CommenSence/select_nth_largest_poker/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example90/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example90/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example90/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example91/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e04043d7d2b530fd488a83def3c79e2d7e2e3aa3 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example91/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.8677446584894228e-05, + -0.00010189814410558751, + 0.01199858498127339 + ], + "orientation": [ + 0.9999999999982978, + -3.50401515148788e-08, + 1.545722017746895e-08, + -1.8450599385562e-06 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + -0.2744004069980339, + 0.19992199789157766, + 0.777998358544364 + ], + "orientation": [ + 0.7071076252217603, + -1.3877761901864341e-08, + 3.561130522941486e-08, + 0.7071059371503267 + ], + "class": "CardHolder" + }, + { + "name": "7_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2744064570076096, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992066, + -0.5000000000008602, + 0.500000000000793, + 0.49999999999914035 + ], + "class": "Poker", + "value": "7", + "suite": "spades" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.13315984171619089, + 0.19992166038775186, + 0.7779983541795792 + ], + "orientation": [ + 0.7071076252211743, + -1.3877761861460367e-08, + 3.561130516423688e-08, + 0.7071059371509133 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1331658918111748, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992131, + -0.5000000000008532, + 0.5000000000007865, + 0.49999999999914646 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + 6.0501760886176985e-06, + 0.19992134217810992, + 0.7779983500643277 + ], + "orientation": [ + 0.7071076252206328, + -1.3877761812697074e-08, + 3.5611305102022334e-08, + 0.7071059371514539 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62145119748655e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920547, + -0.5000000000008619, + 0.5000000000007947, + 0.4999999999991392 + ], + "class": "Poker", + "value": "ace", + "suite": "diamonds" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + 0.10034276873241561, + 0.19992119300222289, + 0.7779983469613666 + ], + "orientation": [ + 0.7071064239917436, + -1.3851049743621577e-08, + 3.558524110636219e-08, + 0.7071071383811708 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.10033662370469595, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008578, + 0.5000000000007906, + 0.49999999999914224 + ], + "class": "Poker", + "value": "jack", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example91/input/input.png b/CommenSence/select_nth_largest_poker/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..655cc4b26bdee7daec6bcd78016f64a983afc147 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:144a367bdeb956cf1d8f7859af514360f778f190af2910b54726236c8597a262 +size 924421 diff --git a/CommenSence/select_nth_largest_poker/example91/input/input_mask.png b/CommenSence/select_nth_largest_poker/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..025898990f8473d009fdc1fcd35f41ba5b25d5d4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eff448e4cc7dc25149b6177f0ccb4255742a7096ba83c119c1c794550f0f02bc +size 821584 diff --git a/CommenSence/select_nth_largest_poker/example91/input/instruction.txt b/CommenSence/select_nth_largest_poker/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example91/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example91/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example91/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example92/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a1598a0c582a8df998bc344532b9da064e7f9e8f --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example92/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.27177912016505e-06, + -0.00010112466489115704, + 0.011998584501037442 + ], + "orientation": [ + 0.9999999999972614, + -3.489113721183081e-08, + 2.915419443157913e-08, + -2.3402350425068856e-06 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.2110583540291449, + 0.19992257842368255, + 0.7779983619468238 + ], + "orientation": [ + 0.7071078520138944, + -4.124627704530324e-09, + 4.515411881665066e-08, + 0.7071057103575787 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2110443398115281, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992053, + -0.5000000000008619, + 0.5000000000007948, + 0.49999999999913924 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder5", + "xml_path": null, + "position": [ + -0.11120480469770688, + 0.1999222758877196, + 0.7779983561260645 + ], + "orientation": [ + 0.7071078520135771, + -4.124627655760503e-09, + 4.5154118761185536e-08, + 0.7071057103578953 + ], + "class": "CardHolder" + }, + { + "name": "5_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.11119079049324124, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920947, + -0.5000000000008566, + 0.5000000000007896, + 0.4999999999991434 + ], + "class": "Poker", + "value": "5", + "suite": "hearts" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -1.4014189518888201e-05, + 0.19992193900175304, + 0.7779983496444239 + ], + "orientation": [ + 0.707107852013232, + -4.124627595125107e-09, + 4.515411869897779e-08, + 0.7071057103582408 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62646823684221e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "ace", + "suite": "clubs" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 0.1476522009346624, + 0.19993530007614865, + 0.777998341030279 + ], + "orientation": [ + 0.7071388242490405, + -4.049122538691391e-09, + 4.516074481938134e-08, + 0.7070747366719327 + ], + "class": "CardHolder" + }, + { + "name": "4_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.14768427611532345, + 0.1999999999999684, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992057, + -0.5000000000008615, + 0.5000000000007945, + 0.4999999999991396 + ], + "class": "Poker", + "value": "4", + "suite": "hearts" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "ace_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "ace_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example92/input/input.png b/CommenSence/select_nth_largest_poker/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..75806f0e9e063b8f2f2d1b6c579bd6fd1c696b5c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbb6aee4177bbace4918e763119ba58e0724d84e88eb8bd8a357e4e2c960a734 +size 906952 diff --git a/CommenSence/select_nth_largest_poker/example92/input/input_mask.png b/CommenSence/select_nth_largest_poker/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aa76897d77d1276d58e569f66b4da08386b550ba --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b767e465fa4ac0fb24e15c19bf5f7d9c2288c0b0eb55ae539816041a1d3482 +size 805749 diff --git a/CommenSence/select_nth_largest_poker/example92/input/instruction.txt b/CommenSence/select_nth_largest_poker/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example92/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example92/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example92/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example93/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fbb8a01ec8aac95d5131ab62d7d69c19df53b114 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example93/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.5395827418290316e-05, + -0.00010177801891360065, + 0.011998584896352964 + ], + "orientation": [ + 0.9999999999981475, + -3.501831087349821e-08, + 1.7658176675054698e-08, + -1.9247449750848017e-06 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "card_holderqueen", + "xml_path": null, + "position": [ + -0.28208740317290454, + 0.1999221371570336, + 0.7779983599472986 + ], + "orientation": [ + 0.7071076617032978, + -1.2312029013564524e-08, + 3.714621246793901e-08, + 0.7071059006687008 + ], + "class": "CardHolder" + }, + { + "name": "queen_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.28209022634164915, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920747, + -0.5000000000008589, + 0.5000000000007916, + 0.49999999999914124 + ], + "class": "Poker", + "value": "queen", + "suite": "diamonds" + }, + { + "name": "card_holderace", + "xml_path": null, + "position": [ + -0.12262219215949138, + 0.19992173968140317, + 0.7779983543174694 + ], + "orientation": [ + 0.707107661702661, + -1.2312028963249481e-08, + 3.7146212391773664e-08, + 0.7071059006693362 + ], + "class": "CardHolder" + }, + { + "name": "ace_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.12262501540889001, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992102, + -0.5000000000008563, + 0.5000000000007891, + 0.499999999999144 + ], + "class": "Poker", + "value": "ace", + "suite": "spades" + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + 2.823311950624938e-06, + 0.1999214340312069, + 0.7779983499882624 + ], + "orientation": [ + 0.707107661702183, + -1.2312028914641035e-08, + 3.7146212332581804e-08, + 0.7071059006698156 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.621451394319715e-15, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999921163, + -0.500000000000855, + 0.5000000000007881, + 0.49999999999914513 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 0.11867070111781501, + 0.19992563801226207, + 0.777998345790814 + ], + "orientation": [ + 0.7071095935643436, + -1.2298385902063226e-08, + 3.7132867516133795e-08, + 0.7071039687975647 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.11867286325851818, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992041, + -0.5000000000008626, + 0.5000000000007956, + 0.4999999999991377 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the smallest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "6_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "6_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example93/input/input.png b/CommenSence/select_nth_largest_poker/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..30097b6ba4a8205d97c6e32a151724ae7da8b5ec --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8cc05fb5ab89fd5cfa3a648b5bb01fd5787326e9cc5887805c4171d03929dc5 +size 992295 diff --git a/CommenSence/select_nth_largest_poker/example93/input/input_mask.png b/CommenSence/select_nth_largest_poker/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5fa55b4dc75dd524ad7f4837c54f3eb6e9c0614b --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d91d7dce5d2edc9c36c9def52ecc7811b230147cc7f2573239f4aa09180a594 +size 891965 diff --git a/CommenSence/select_nth_largest_poker/example93/input/instruction.txt b/CommenSence/select_nth_largest_poker/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..66ddedc7f02fa96d3e0433168024cdaf3eb20119 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example93/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the smallest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example93/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example93/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example94/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8283fcc2514668864a82e8cb352412b3b5253003 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example94/env_config/env_config.json @@ -0,0 +1,195 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2333535878638326e-05, + -0.00010166448006419412, + 0.011998584819686808 + ], + "orientation": [ + 0.9999999999980014, + -3.4997227931437526e-08, + 1.9713470201959323e-08, + -1.9990967421522443e-06 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + -0.2695433336490312, + 0.19992221890010486, + 0.7779983605440196 + ], + "orientation": [ + 0.7071076957514777, + -1.0849429187938131e-08, + 3.857905572406378e-08, + 0.7071058666204337 + ], + "class": "CardHolder" + }, + { + "name": "10_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26954314570119997, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920564, + -0.5000000000008613, + 0.5000000000007946, + 0.4999999999991398 + ], + "class": "Poker", + "value": "10", + "suite": "hearts" + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.13187356139022002, + 0.19992186251831853, + 0.7779983551178489 + ], + "orientation": [ + 0.7071076957509488, + -1.0849429140620571e-08, + 3.8579055656492726e-08, + 0.7071058666209629 + ], + "class": "CardHolder" + }, + { + "name": "2_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13187337350039197, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920836, + -0.5000000000008575, + 0.5000000000007905, + 0.4999999999991424 + ], + "class": "Poker", + "value": "2", + "suite": "clubs" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -1.8783373609110595e-07, + 0.1999215211407545, + 0.7779983499201396 + ], + "orientation": [ + 0.7071076957504517, + -1.0849429085380997e-08, + 3.857905559092178e-08, + 0.7071058666214589 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.62646823684221e-15, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920997, + -0.5000000000008563, + 0.5000000000007891, + 0.4999999999991438 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + 0.13525339169394188, + 0.1999256666601338, + 0.7779983445812828 + ], + "orientation": [ + 0.7071096096910578, + -1.0836049988470076e-08, + 3.856597184733154e-08, + 0.7071039526707221 + ], + "class": "CardHolder" + }, + { + "name": "9_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + 0.13525855563659506, + 0.19999999999996837, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920414, + -0.5000000000008625, + 0.5000000000007955, + 0.499999999999138 + ], + "class": "Poker", + "value": "9", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 2nd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example94/input/input.png b/CommenSence/select_nth_largest_poker/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ab7f4b7d82fc96d415ece74564b5203d54dcde86 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28636ce65783bfabd34697db07f8c79399a672fc8c9e058051915e2b9763de47 +size 908662 diff --git a/CommenSence/select_nth_largest_poker/example94/input/input_mask.png b/CommenSence/select_nth_largest_poker/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..95bae31d4d0dc96cca6b6bc21e2a62b64769e9d4 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64aba3bbe646162978564f36bde93643d45880e76397a85b8d0bb33d975954f2 +size 806248 diff --git a/CommenSence/select_nth_largest_poker/example94/input/instruction.txt b/CommenSence/select_nth_largest_poker/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..002a81e6f06515730b7e09ab4689afffad9f6891 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example94/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 2nd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example94/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..43829b5dceba0580f8a914f3ed183b6e3eb25457 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example94/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example95/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f558fab1cc4e97a6095b6d5d4d61a6a5d49d2ae1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example95/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.42835304007301e-05, + -9.912420077561346e-05, + 0.011998532281624027 + ], + "orientation": [ + 0.9999999999999969, + -6.537897894174873e-08, + -4.242069114701127e-08, + 2.439831241926569e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + -0.24877188620645005, + 0.19990312010230898, + 0.7779982641347956 + ], + "orientation": [ + 0.7071067806110574, + -7.602897378103866e-08, + 1.626933913444355e-08, + 0.7071067817620343 + ], + "class": "CardHolder" + }, + { + "name": "4_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.24883471380828476, + 0.19999999999996845, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992088, + -0.5000000000008574, + 0.5000000000007901, + 0.4999999999991427 + ], + "class": "Poker", + "value": "4", + "suite": "clubs" + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.14096940352865822, + 0.1999031197779331, + 0.7779982732795522 + ], + "orientation": [ + 0.7071067806110446, + -7.602897376932477e-08, + 1.6269339136934745e-08, + 0.7071067817620472 + ], + "class": "CardHolder" + }, + { + "name": "8_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.1410322313773974, + 0.19999999999996848, + 0.892556870431448 + ], + "orientation": [ + 0.49999999999920985, + -0.5000000000008563, + 0.5000000000007893, + 0.4999999999991441 + ], + "class": "Poker", + "value": "8", + "suite": "spades" + }, + { + "name": "card_holder7", + "xml_path": null, + "position": [ + 6.282817175640209e-05, + 0.1999031193535555, + 0.777998285243149 + ], + "orientation": [ + 0.7071067806110308, + -7.602897375383283e-08, + 1.626933914019019e-08, + 0.7071067817620611 + ], + "class": "CardHolder" + }, + { + "name": "7_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.626361193956238e-15, + 0.19999999999996843, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992063, + -0.5000000000008605, + 0.5000000000007934, + 0.4999999999991402 + ], + "class": "Poker", + "value": "7", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "8_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "8_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example95/input/input.png b/CommenSence/select_nth_largest_poker/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5239beeb48b62eba0136fbdf34a7d1d62500acd6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14856973586b0f864a84b74dbaf8e5177171065173fcbb61e42684cfa5d4f7a0 +size 923078 diff --git a/CommenSence/select_nth_largest_poker/example95/input/input_mask.png b/CommenSence/select_nth_largest_poker/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dbcb4a3edd8be05ce5c9c6f2e08d7cb6c75200c0 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67c88cd1c65146eb78484f5c4f24a24aab3619ace6af14111e8f2b0a4c0a8002 +size 823967 diff --git a/CommenSence/select_nth_largest_poker/example95/input/instruction.txt b/CommenSence/select_nth_largest_poker/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example95/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example95/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example95/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example96/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3debee91ce5622f2fb920d7d9c9e528e370859b3 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example96/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.0296616015358725e-05, + -9.916120257937935e-05, + 0.011998532217297615 + ], + "orientation": [ + 0.9999999999999978, + -6.53961837815683e-08, + -3.978459988823463e-08, + 1.9840556501833002e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "card_holder8", + "xml_path": null, + "position": [ + -0.22471833319431156, + 0.19990308379337993, + 0.7779982672892701 + ], + "orientation": [ + 0.707106780669791, + -7.41843252950287e-08, + 1.8138270448837935e-08, + 0.7071067817033005 + ], + "class": "CardHolder" + }, + { + "name": "8_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2247772642858974, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "8", + "suite": "diamonds" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.14059033544494456, + 0.1999030835503285, + 0.7779982739822758 + ], + "orientation": [ + 0.7071067806697833, + -7.418432528666917e-08, + 1.8138270450452006e-08, + 0.7071067817033083 + ], + "class": "CardHolder" + }, + { + "name": "9_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.14064926670605374, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "9", + "suite": "clubs" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + 5.8931544529953546e-05, + 0.1999030831439723, + 0.7779982851719672 + ], + "orientation": [ + 0.7071067806697694, + -7.418432527299598e-08, + 1.8138270452534843e-08, + 0.7071067817033222 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "6", + "suite": "clubs" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + -2.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "9_of_clubs" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "9_of_clubs" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example96/input/input.png b/CommenSence/select_nth_largest_poker/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1072528808f78c5bce67dced749262618737a9c9 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cb20f60ee9b656b319f78a4589c82b9f7460bf349e73a21767d56234f37fa22 +size 923824 diff --git a/CommenSence/select_nth_largest_poker/example96/input/input_mask.png b/CommenSence/select_nth_largest_poker/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1210a9a68178f059dd49cd7fa398acd89029b49a --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10e96f00211746c8593ffb2f22f4f94f1ccadbacda48aa5d4174d8b495c2cdf7 +size 824066 diff --git a/CommenSence/select_nth_largest_poker/example96/input/instruction.txt b/CommenSence/select_nth_largest_poker/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..af1d90b093757d82fd9ef978e043cef52bb76ad1 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example96/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example96/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b9ac6b5aaaf95db6ec3dcda000e12016af0cf5 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example96/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example97/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fa0f3b53d5e55226b050c06b2c11e6850b2f1e26 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example97/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.610798367748477e-05, + -9.910637382284855e-05, + 0.011998532312522245 + ], + "orientation": [ + 0.9999999999999969, + -6.537066333918403e-08, + -4.362877620636209e-08, + 2.9286623942132284e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "card_holderking", + "xml_path": null, + "position": [ + -0.2748203277460069, + 0.1999031376243304, + 0.7779982612951263 + ], + "orientation": [ 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0.5000000000007891, + 0.49999999999914413 + ], + "class": "Poker", + "value": "jack", + "suite": "spades" + }, + { + "name": "card_holder10", + "xml_path": null, + "position": [ + 6.461129370739442e-05, + 0.19990313679868937, + 0.7779982852773599 + ], + "orientation": [ + 0.7071067805628215, + -7.687405178872238e-08, + 1.5412524502919418e-08, + 0.7071067818102696 + ], + "class": "CardHolder" + }, + { + "name": "10_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6276218538122224e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "10", + "suite": "diamonds" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "10_of_diamonds" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "10_of_diamonds" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example97/input/input.png b/CommenSence/select_nth_largest_poker/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7bfac611f37404e2f979813d23854b0edfd00801 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6602526a2f051f4593633f3ba230f3ba18af8d3344825273d1193126aae646f +size 991545 diff --git a/CommenSence/select_nth_largest_poker/example97/input/input_mask.png b/CommenSence/select_nth_largest_poker/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cf1767da411de214c8de3115b8597cbfda812021 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e00c7c721f04c39af5df3baf2a7934163571f04c88af0b053e31b8942f39cf3a +size 893824 diff --git a/CommenSence/select_nth_largest_poker/example97/input/instruction.txt b/CommenSence/select_nth_largest_poker/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example97/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example97/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example97/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example98/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..70ee0c096f3766c9346900a04886f0e4b2749812 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example98/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.079128706320396e-05, + -9.915656515514554e-05, + 0.01199853222523178 + ], + "orientation": [ + 0.9999999999999973, + -6.539401329230955e-08, + -4.011486334032634e-08, + 2.623335360803274e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holder2", + "xml_path": null, + "position": [ + -0.2678831473127276, + 0.19990308842649446, + 0.7779982636869922 + ], + "orientation": [ + 0.7071067806181434, + -7.44154308554374e-08, + 1.7904101474195337e-08, + 0.7071067817549482 + ], + "class": "CardHolder" + }, + { + "name": "2_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.26794256174741454, + 0.1999999999999685, + 0.8925568704314479 + ], + "orientation": [ + 0.4999999999992071, + -0.5000000000008592, + 0.5000000000007921, + 0.49999999999914096 + ], + "class": "Poker", + "value": "2", + "suite": "spades" + }, + { + "name": "card_holder6", + "xml_path": null, + "position": [ + -0.10069327547662812, + 0.19990308796192155, + 0.7779982770986026 + ], + "orientation": [ + 0.707106780618126, + -7.441543083875322e-08, + 1.790410147731779e-08, + 0.7071067817549657 + ], + "class": "CardHolder" + }, + { + "name": "6_of_clubs", + "xml_path": 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3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "2_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "2_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example98/input/input.png b/CommenSence/select_nth_largest_poker/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..38ff5a5606037eb1dc8b2dfce79b1b3ad8171c53 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0768b93463c75e5f840bb599d6f630743f37779921ae565e214e0d458a427a +size 989242 diff --git a/CommenSence/select_nth_largest_poker/example98/input/input_mask.png b/CommenSence/select_nth_largest_poker/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..77f4368d799990e32fecb8a239815aa4f934bbee --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0afd6c7b66d17a45c220c8edc49ef5b1d373153cf4f20db40342a7410444a34 +size 893036 diff --git a/CommenSence/select_nth_largest_poker/example98/input/instruction.txt b/CommenSence/select_nth_largest_poker/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example98/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example98/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..927f790db9101369b803b28d240a6e9fd6c18d77 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example98/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/CommenSence/select_nth_largest_poker/example99/env_config/env_config.json b/CommenSence/select_nth_largest_poker/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..edd26eec46c5df0b291a518c06c21446d2499097 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example99/env_config/env_config.json @@ -0,0 +1,161 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.494177250548833e-05, + -9.920707717790361e-05, + 0.01199853213741169 + ], + "orientation": [ + 0.9999999999999981, + -6.541742401667399e-08, + -3.624602879436329e-08, + 1.5452335618072516e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "card_holderjack", + "xml_path": null, + "position": [ + -0.20010957136750537, + 0.19990303878981303, + 0.7779982705755214 + ], + "orientation": [ + 0.7071067807355222, + -7.170684670102628e-08, + 2.0645727411533287e-08, + 0.7071067816375686 + ], + "class": "CardHolder" + }, + { + "name": "jack_of_hearts", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.2001632689871708, + 0.1999999999999685, + 0.892556870431448 + ], + "orientation": [ + 0.4999999999992134, + -0.5000000000008532, + 0.5000000000007866, + 0.49999999999914685 + ], + "class": "Poker", + "value": "jack", + "suite": "hearts" + }, + { + "name": "card_holder9", + "xml_path": null, + "position": [ + -0.13249573774910336, + 0.19990303860790687, + 0.7779982754762611 + ], + "orientation": [ + 0.7071067807355172, + -7.170684669525775e-08, + 2.0645727412298833e-08, + 0.7071067816375736 + ], + "class": "CardHolder" + }, + { + "name": "9_of_diamonds", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -0.13254943548189105, + 0.19999999999996848, + 0.8925568704314479 + ], + "orientation": [ + 0.49999999999921024, + -0.5000000000008561, + 0.5000000000007889, + 0.4999999999991442 + ], + "class": "Poker", + "value": "9", + "suite": "diamonds" + }, + { + "name": "card_holder4", + "xml_path": null, + "position": [ + 5.369795455177486e-05, + 0.19990303825129196, + 0.7779982850836186 + ], + "orientation": [ + 0.707106780735507, + -7.170684668388227e-08, + 2.064572741369713e-08, + 0.7071067816375838 + ], + "class": "CardHolder" + }, + { + "name": "4_of_spades", + "xml_path": "obj/meshes/poker/poker_asset.xml", + "position": [ + -3.6263801967422935e-15, + 0.19999999999996843, + 0.8925568704314483 + ], + "orientation": [ + 0.499999999999208, + -0.500000000000858, + 0.5000000000007908, + 0.49999999999914196 + ], + "class": "Poker", + "value": "4", + "suite": "spades" + } + ], + "scene": { + "name": "living_room_0", + "position": [ + -2.0, + 3.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Please pick the the 3rd largest poker" + ], + "conditions": { + "is_grasped": { + "entities": [ + "4_of_spades" + ], + "robot": "franka" + }, + "lift": { + "entities": [ + "4_of_spades" + ], + "target_height": 0.9 + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example99/input/input.png b/CommenSence/select_nth_largest_poker/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3475967b4e20eecde347a40a1cf231912c53ec7c --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fa0844f6d371c35212636f12754f9ca8791cd8ad00688544c3512a53a10346b +size 990830 diff --git a/CommenSence/select_nth_largest_poker/example99/input/input_mask.png b/CommenSence/select_nth_largest_poker/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e312d5887c33a437f0f4b0e8502d83a5a371319d --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be77c46926bffe7107014779334d28022a9bd9be25829d9bb51dfb9a31d3841e +size 893585 diff --git a/CommenSence/select_nth_largest_poker/example99/input/instruction.txt b/CommenSence/select_nth_largest_poker/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5c946ccb1e9cf604a010aa0aaa07ae248e53772 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example99/input/instruction.txt @@ -0,0 +1 @@ +Please pick the the 3rd largest poker \ No newline at end of file diff --git a/CommenSence/select_nth_largest_poker/example99/output/operation_sequence.json b/CommenSence/select_nth_largest_poker/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ef38fce685278f7195af267e57f9610ae5ffdcf6 --- /dev/null +++ b/CommenSence/select_nth_largest_poker/example99/output/operation_sequence.json @@ -0,0 +1,14 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "lift", + "params": {} + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example0/env_config/env_config.json b/CommenSence/select_toy_common_sense/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..277384be15ada2b4a00dfef880e9464a4281111f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example0/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.37239559462192e-08, + -1.2369279180644113e-10, + -7.672824911929114e-07 + ], + "orientation": [ + 1.0, + 1.0676265416814943e-09, + -2.023831683638303e-11, + 1.3087814591019598e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.0668804026159993, + -0.05039307018141297, + 0.7709990930200312 + ], + "orientation": [ + 0.9985022256807324, + 0.0008169170248092856, + -0.00035400597798973126, + 0.05470386308997295 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.26140444165561955, + 0.16390203576592893, + 0.7649985746224666 + ], + "orientation": [ + 0.7068261135656275, + 0.707387337417987, + 7.201108811625732e-07, + 6.471708308704244e-06 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.2759722473341931, + -0.16929228998281506, + 0.7652477560115585 + ], + "orientation": [ + -0.0022352258654128477, + 0.002233828324898892, + 0.7073849758479003, + 0.7068214128908455 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.22394362039558147, + 0.132471938679347, + 0.7649984523469788 + ], + "orientation": [ + 0.7068253752359245, + 0.7073880746537283, + 2.01596742712429e-05, + 1.881148407408321e-05 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example0/input/input.png b/CommenSence/select_toy_common_sense/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e2403079007fc16e46091442d61d877b04a1f730 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b17a23d8a04b750c20f94881cffb9d8d8a0b2880f5eef3fce598047b9d58e6cb +size 903807 diff --git a/CommenSence/select_toy_common_sense/example0/input/input_mask.png b/CommenSence/select_toy_common_sense/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d0ea94316f6b3c25163cb80d33770deee993fc3a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da9174a12fa82e5839019c585eda57a18474acb9427f1246bec57de90ef361a7 +size 795849 diff --git a/CommenSence/select_toy_common_sense/example0/input/instruction.txt b/CommenSence/select_toy_common_sense/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8aec5606c6dd8e2498b9c5f8b3ddd276934a9dda --- /dev/null +++ b/CommenSence/select_toy_common_sense/example0/input/instruction.txt @@ -0,0 +1 @@ + Retrieve the character who is the sibling of Thor in the Marvel series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example0/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example0/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example1/env_config/env_config.json b/CommenSence/select_toy_common_sense/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4791862dd0ec1d4bd4b6e37c393b0686022dcfb6 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example1/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.401534957568583e-09, + -5.3835140555108176e-11, + -7.621086836469269e-07 + ], + "orientation": [ + 1.0, + -7.940596044389212e-10, + -1.1990390087912298e-10, + -1.1041581600653594e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.277954594973579, + -0.058478610117701946, + 0.7709990983249029 + ], + "orientation": [ + 0.9992759635377952, + 0.0008108948572063205, + -0.00036758694492851677, + 0.038036246199904505 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.2015496467086454, + 0.16314184530240167, + 0.7649985173236106 + ], + "orientation": [ + -1.1165532739058807e-05, + -9.54019639395739e-06, + 0.7073878707737669, + 0.7068255796633778 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + 0.07287169195393443, + -0.15978393400037208, + 0.7649978700194415 + ], + "orientation": [ + 0.7068255734648421, + 0.7073878769199535, + -1.680256534978791e-05, + -6.720700879798049e-07 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.10619361258283756, + 0.15236954685016316, + 0.7649987301412196 + ], + "orientation": [ + 2.8085953742593704e-06, + 3.0862865884642685e-06, + 0.7073874919169688, + 0.7068259589616155 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example1/input/input.png b/CommenSence/select_toy_common_sense/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9cf3ef1984ed3411dbe85cf931ab52119c9c1723 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04ece8c78844bae0f9d500fe44685752d96f4dcefce17cb4703424a15e714f70 +size 893872 diff --git a/CommenSence/select_toy_common_sense/example1/input/input_mask.png b/CommenSence/select_toy_common_sense/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bbb863b48c452af8a6db023bcead66f845de5a20 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5d9027c4caf31b28649f0c2d9a9a0799aebde8e23b72ef2384518b68add872e +size 776064 diff --git a/CommenSence/select_toy_common_sense/example1/input/instruction.txt b/CommenSence/select_toy_common_sense/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..40c847de233f3c242e6eb3b201f0c8b40c34a3ee --- /dev/null +++ b/CommenSence/select_toy_common_sense/example1/input/instruction.txt @@ -0,0 +1 @@ + Choose the pet of the famous Disney mouse. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example1/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example1/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example10/env_config/env_config.json b/CommenSence/select_toy_common_sense/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4ebe1b921ba03b90b4b9edfcb823adef71a65c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example10/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.690790087526855e-08, + -6.208336234353948e-10, + -7.78528266804991e-07 + ], + "orientation": [ + 1.0, + 2.6177843822801433e-09, + 4.836093562833118e-09, + -4.916488878595145e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.11116807565005192, + -0.03576368874099752, + 0.77099908276636 + ], + "orientation": [ + 0.9979795596769316, + 0.0008200167489443141, + -0.00034676497910269514, + 0.06352956629489513 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + 0.21625807161136412, + 0.13451287282106963, + 0.7660177529175606 + ], + "orientation": [ + 0.7067661396728643, + 0.7073301408211292, + -0.009061992088546723, + 0.009141990880836576 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + 0.2209178295620019, + -0.1449647008835328, + 0.7631589241363408 + ], + "orientation": [ + -0.01044081125761331, + 0.009425132937273175, + 0.7071046288659071, + 0.7069690234839181 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.28723099717245926, + 0.14723623363978522, + 0.7651389508222773 + ], + "orientation": [ + -0.001289090285987932, + 0.0012566699046811026, + 0.7074078331044539, + 0.7068033083464214 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + -0.261105820794083, + -0.1688978554440549, + 0.7654414244797517 + ], + "orientation": [ + 0.7068146341998806, + 0.7073769451049011, + 0.003919444839089418, + -0.003945677014097647 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example10/input/input.png b/CommenSence/select_toy_common_sense/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bb9bafd6ac5b3fa51ad58419d74e7dfeb9ce34d9 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea2d488c50c0c063afd9b20a8ab7c255fffa6ebd76d67d9acb8262f31497376 +size 941432 diff --git a/CommenSence/select_toy_common_sense/example10/input/input_mask.png b/CommenSence/select_toy_common_sense/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..310b85e66196612d9ef9d84e5b67fa97883cf985 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95881218710d9b2b9982f7cd1af6c5e2c9808a505795f0c01055e5e1c43477a7 +size 803797 diff --git a/CommenSence/select_toy_common_sense/example10/input/instruction.txt b/CommenSence/select_toy_common_sense/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..1d1505acc7898915ed66f9bbdcfcfbaba583622f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example10/input/instruction.txt @@ -0,0 +1 @@ + Select the toy from Marvel that is made from vibranium. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example10/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example10/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example11/env_config/env_config.json b/CommenSence/select_toy_common_sense/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1e40fba4c3907d2c6bef1d3168fe20573109e0 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example11/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.02936969442905e-09, + -1.573547812116995e-09, + -7.645275555758666e-07 + ], + "orientation": [ + 1.0, + 2.140498925253874e-09, + 1.457819892231983e-09, + 9.886554181717677e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.1154403894200757, + 0.035813260801294274, + 0.7709990963697041 + ], + "orientation": [ + 0.998521169620346, + 0.0008167951450030377, + -0.0003542883366170795, + 0.05435697881121527 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.23501003916065022, + -0.15253041227464142, + 0.7649983164390478 + ], + "orientation": [ + 0.7067438600993323, + 0.7073099395788757, + -0.01062590942240596, + -0.010623353226236901 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.21081390698698418, + 0.14875550006102756, + 0.7796617702128856 + ], + "orientation": [ + 0.17984792777128747, + -0.07937815139171837, + 0.6844870168851942, + 0.7020194838276324 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2626814588740978, + -0.15603971417894136, + 0.7649977770358911 + ], + "orientation": [ + 2.665651343138745e-06, + -1.7309456428326307e-05, + 0.7073881106858342, + 0.706825339495977 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example11/input/input.png b/CommenSence/select_toy_common_sense/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..19377152916eb05d620194f974d8f08e06bda0f7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d0af1347ab19304a02cc4839732d51f6b40d02be6ab895d4326dfbcff2458f8 +size 925653 diff --git a/CommenSence/select_toy_common_sense/example11/input/input_mask.png b/CommenSence/select_toy_common_sense/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3e27fe5ecb32a33df55ec31c5ad99de94a4d14da --- /dev/null +++ b/CommenSence/select_toy_common_sense/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:493e77562196a885c99479c1eb881eaf29b84fb0847fcbcd236d9a2958838add +size 810297 diff --git a/CommenSence/select_toy_common_sense/example11/input/instruction.txt b/CommenSence/select_toy_common_sense/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..20df5a1eb57ff78d9d73017381fdc9cd592512ee --- /dev/null +++ b/CommenSence/select_toy_common_sense/example11/input/instruction.txt @@ -0,0 +1 @@ + Select the extraterrestrial being from a famous animated movie series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example11/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example11/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example12/env_config/env_config.json b/CommenSence/select_toy_common_sense/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..527e28a88c9dd3c7ed5339417a0d422b272ea623 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example12/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.53536483447291e-08, + -7.2517048307297246e-09, + -7.709064876101024e-07 + ], + "orientation": [ + 1.0, + 4.277117906828605e-09, + -5.628899550811514e-09, + -8.872863439817034e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20164624248307192, + 0.16825344296634387, + 0.7709990932103781 + ], + "orientation": [ + 0.9994224655327084, + 0.0007823465610003802, + -0.0004249910072330657, + -0.033969732189481724 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.27757027437093396, + -0.14898782076224837, + 0.7649985797572351 + ], + "orientation": [ + 0.7068246531182223, + 0.7073887956104045, + 2.950901936534859e-05, + 2.680269055132765e-05 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.04334934101587738, + -0.15963961701251525, + 0.7669533420291377 + ], + "orientation": [ + 0.010863216252226037, + -0.01059847362870124, + 0.7006835032632175, + 0.7133107956172988 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.1061656262103442, + 0.14032737538610618, + 0.7650792267909798 + ], + "orientation": [ + 0.7068249588012775, + 0.7073875430493971, + -0.0008387576069230921, + 0.0007987739280537055 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example12/input/input.png b/CommenSence/select_toy_common_sense/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4159b97ae941366a362a3984c777cee7e9a26c63 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6045183154b340d80dd6ec3186da5fb2f77ef6be4ff03966ea2388dcb8404bf9 +size 940533 diff --git a/CommenSence/select_toy_common_sense/example12/input/input_mask.png b/CommenSence/select_toy_common_sense/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a21c83e3c22c07a81a039e972cb45e511ad81ce --- /dev/null +++ b/CommenSence/select_toy_common_sense/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b469431e4e070056f4a75448da02934786918c9fab6c2f217b557320903882da +size 820835 diff --git a/CommenSence/select_toy_common_sense/example12/input/instruction.txt b/CommenSence/select_toy_common_sense/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..edee323de6bbf8de73ebcd6c35645d030c07564f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example12/input/instruction.txt @@ -0,0 +1 @@ + Identify a toy famous from Andy's room. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example12/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example12/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example13/env_config/env_config.json b/CommenSence/select_toy_common_sense/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5a1c19f02f860f85d5eed65f32ae2ea97f5ca5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example13/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.445529678143692e-09, + -2.804777850931491e-11, + -7.648939364995257e-07 + ], + "orientation": [ + 1.0, + 1.4673398148665199e-09, + -1.0929393736074859e-09, + -3.1030615478988855e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.11824339516051562, + 0.15177278892778642, + 0.7709990957003873 + ], + "orientation": [ + 0.9995763693334735, + 0.0008075746521138839, + -0.00037483090671479194, + 0.029091050085633757 + ], + "class": "CommonContainer" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.22405945234671942, + -0.1320035223404157, + 0.7652384034222537 + ], + "orientation": [ + 0.7068223206589888, + 0.7073846782144666, + -0.0021242035366631326, + 0.0021475113489879856 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2527836670420733, + -0.1570632846234847, + 0.764998531979305 + ], + "orientation": [ + -4.748354418497015e-06, + -3.573207166107719e-06, + 0.7073893889043583, + 0.7068240604494189 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + 0.2016715652438384, + 0.13437544356714262, + 0.7658750418196515 + ], + "orientation": [ + -0.007843245276843167, + 0.007753047644894268, + 0.7073456235000619, + 0.7067818211237837 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "aquaman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example13/input/input.png b/CommenSence/select_toy_common_sense/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fbf1065d1e4783680e09b2424b228b9a9a2ab1c8 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08e3804e6ea27fc801fad82c6ff2ef8f88a2639dda2a8d2781df962b8dc97b74 +size 900601 diff --git a/CommenSence/select_toy_common_sense/example13/input/input_mask.png b/CommenSence/select_toy_common_sense/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e16aea84ccaad74770adffea2bd5abe05c7ce393 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f3d92fbdb84ea84e831f17c9f1d6ef43cafcc3848498e5d2c7225e26e5c4f7 +size 785376 diff --git a/CommenSence/select_toy_common_sense/example13/input/instruction.txt b/CommenSence/select_toy_common_sense/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d8a5e407abdc4b4f48f43335ff98a78464296edc --- /dev/null +++ b/CommenSence/select_toy_common_sense/example13/input/instruction.txt @@ -0,0 +1 @@ + Choose a character known for ruling the underwater kingdom. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example13/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example13/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example14/env_config/env_config.json b/CommenSence/select_toy_common_sense/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..14f417cc916618dd0e219b3fe1c745739bb175a4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example14/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.7662831923126444e-08, + 2.2491973276014302e-11, + -7.823809124998406e-07 + ], + "orientation": [ + 0.9999999999999999, + -2.0675945220797246e-09, + -3.02977032509149e-09, + 2.5433301275888617e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.09438307707303102, + -0.06848158832830661, + 0.7709990777377432 + ], + "orientation": [ + 0.999151979025644, + 0.0008120403601261576, + -0.0003650491807063645, + 0.04116467100182796 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.2140989968173996, + 0.1648423930553115, + 0.7799446263422462 + ], + "orientation": [ + 0.13842214113393927, + -0.13787676243254035, + 0.6937917092425325, + 0.6931683586339904 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + 0.21466077014510607, + -0.1478163259188632, + 0.7649983435423554 + ], + "orientation": [ + -3.567977904989609e-06, + -9.275666373105769e-07, + 0.7073872936695575, + 0.7068261573691712 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.2764058657230894, + 0.1312690118861716, + 0.764998260156286 + ], + "orientation": [ + 0.7068262956706947, + 0.7073871541008093, + -3.089673485718578e-05, + -3.1733148271987484e-05 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example14/input/input.png b/CommenSence/select_toy_common_sense/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..88e1e7aedca8eb6b2fa916fadc4b0d89678da87c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a694e9a91d8a6ec6d60d96f63cf61f718020730a57b60563f8095eb970e129d +size 900991 diff --git a/CommenSence/select_toy_common_sense/example14/input/input_mask.png b/CommenSence/select_toy_common_sense/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a1a7e13aef3d1d70af1f615353ad63470743bcc3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d42db73149de49c15735f757fd656686373692bf36d47d9d2899699ae19c1e51 +size 790505 diff --git a/CommenSence/select_toy_common_sense/example14/input/instruction.txt b/CommenSence/select_toy_common_sense/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..606ac3d56fd95a15b56a3812b4cf3e38fb94af6a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example14/input/instruction.txt @@ -0,0 +1 @@ + Identify the toy with three eyes and a green body. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example14/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example14/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example15/env_config/env_config.json b/CommenSence/select_toy_common_sense/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..29f13462aa629ea9aee229355d7c5c85e0585cf6 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example15/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1953085561056069e-09, + -1.8965005914849424e-09, + -7.621428019031587e-07 + ], + "orientation": [ + 1.0, + -2.0611056361424488e-10, + -1.2101862997955776e-09, + 5.147866858384452e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2204787348638753, + 0.16137263738325286, + 0.7709990987316331 + ], + "orientation": [ + 0.9986547815752986, + 0.0008158986112514368, + -0.0003563449636154519, + 0.05184433010962862 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.28092323849124917, + -0.15823692050987362, + 0.764998676674266 + ], + "orientation": [ + 0.00042686915331187065, + 0.0004262242842409305, + 0.7073866485963686, + 0.706826545556394 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + 0.044118122151716205, + -0.13700740153640023, + 0.7649884514132146 + ], + "orientation": [ + 0.00010462930664656893, + 4.837148048410052e-05, + 0.7073987712719808, + 0.7068146610787022 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + -0.12409342772391757, + 0.1619322159502097, + 0.7649982093788728 + ], + "orientation": [ + 0.7067432025733855, + 0.7073153148311173, + 0.010471253864661316, + 0.010461542150791021 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example15/input/input.png b/CommenSence/select_toy_common_sense/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..707202a40cbe56bbb3d3018f88b7ddb640a02ed6 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ea01c5bd06318ec3d4e74f86b68ece07e7fa5aee7f0a6b26e27672eac7a152b +size 876395 diff --git a/CommenSence/select_toy_common_sense/example15/input/input_mask.png b/CommenSence/select_toy_common_sense/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9cf1e38d6f949505194cbb68354e4bbc419202e5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf7415f58934e28edc2b23848d9b9603a957fa792e27416ded1db1c3f9ba847 +size 766328 diff --git a/CommenSence/select_toy_common_sense/example15/input/instruction.txt b/CommenSence/select_toy_common_sense/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..38750b1789b379a5523b95d172bb5add9e94089d --- /dev/null +++ b/CommenSence/select_toy_common_sense/example15/input/instruction.txt @@ -0,0 +1 @@ + Pick the character that is a dog in the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example15/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example15/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example16/env_config/env_config.json b/CommenSence/select_toy_common_sense/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7557d59f03ddf462f2b00262d254f04e4938e5c7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example16/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.6467300863899674e-08, + -3.2943675645519037e-10, + -7.738712464379444e-07 + ], + "orientation": [ + 1.0, + -1.7983095100946295e-09, + 2.5567760889070954e-10, + -1.2251258700625558e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.20665343181666396, + -0.14491655234195108, + 0.7709990869512839 + ], + "orientation": [ + 0.999796957475931, + 0.0007881486603406238, + -0.00041411413383467385, + -0.020130850778005454 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.26818954992061267, + 0.16375825272385539, + 0.7661560466931686 + ], + "orientation": [ + 0.010604753187216908, + -0.010528291840912288, + 0.7073092372502267, + 0.7067463032667746 + ], + "class": "Toy" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + 0.06087813222750538, + 0.15316315185870236, + 0.7654191626064779 + ], + "orientation": [ + 0.004234968306902502, + -0.004179226465177968, + 0.707374625748121, + 0.706813792987445 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.09254929110352796, + -0.16347161343768815, + 0.7650857078177166 + ], + "orientation": [ + -0.0007575804948177133, + 0.0008037586702922028, + 0.7073875496503301, + 0.7068250382120722 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example16/input/input.png b/CommenSence/select_toy_common_sense/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e6f098db449ac6786c038cdaff61ad83e5e871e8 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a81b9ea77185b33f2a919cb10b40a105a64572fc7a52fdb95b74304a78f5dd4b +size 890468 diff --git a/CommenSence/select_toy_common_sense/example16/input/input_mask.png b/CommenSence/select_toy_common_sense/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..27561b20cf8b1a03c8a3ef3dc23bc445a5364f06 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6feb272d2988c097f11d4716f712252e9c703eb4fb6774d0e681bdaea9183d6 +size 779429 diff --git a/CommenSence/select_toy_common_sense/example16/input/instruction.txt b/CommenSence/select_toy_common_sense/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a582d2f0f9093afb3d09c5e60bace2af62880900 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example16/input/instruction.txt @@ -0,0 +1 @@ + Fetch the toy character from Central City. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example16/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example16/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example17/env_config/env_config.json b/CommenSence/select_toy_common_sense/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77062da49b376c365fecaf7b54164692ccb79f9d --- /dev/null +++ b/CommenSence/select_toy_common_sense/example17/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.41098236726924e-09, + -3.65936756161242e-10, + -7.670426136193457e-07 + ], + "orientation": [ + 1.0, + 8.629544828860523e-10, + 5.733437067995558e-09, + -2.167727683836449e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.11968557270694649, + -0.1696162143564275, + 0.7709990944440956 + ], + "orientation": [ + 0.9993839552374519, + 0.000781868256231811, + -0.00042585209717832095, + -0.035084431675150504 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_0/spiderman_aracnido.xml", + "position": [ + 0.22611282506448196, + 0.13470023821733568, + 0.7665816802571261 + ], + "orientation": [ + 0.7066839478234952, + 0.7072508847652323, + 0.014046921714948785, + -0.014023832490825812 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.26797610557083035, + 0.14609562577574872, + 0.7613666361215209 + ], + "orientation": [ + -0.018981413845740158, + -0.00403364153368809, + 0.7095887033845958, + 0.7043488536892515 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.23226950096042867, + -0.14182742928385858, + 0.7657205005061485 + ], + "orientation": [ + -0.0068355535299485974, + 0.006759708754432172, + 0.7073552149183271, + 0.7067928844246681 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example17/input/input.png b/CommenSence/select_toy_common_sense/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..02a470dc703f8300f6a5a7727fef3b461614f655 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb06ca032f3e3658fc3a3a2d823b835a65b599fe5053d5a909a8289ab3de794c +size 917931 diff --git a/CommenSence/select_toy_common_sense/example17/input/input_mask.png b/CommenSence/select_toy_common_sense/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4ca3bbf87802444e627a5e6625e32af943d577c5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b33af16d6a454e2619985de190a89bac523dd7b37548cbe4d985ec05bfff2000 +size 800640 diff --git a/CommenSence/select_toy_common_sense/example17/input/instruction.txt b/CommenSence/select_toy_common_sense/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..186c5845ec3dfd9266df1de30bce423013edeb05 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example17/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the Marvel series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example17/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example17/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example18/env_config/env_config.json b/CommenSence/select_toy_common_sense/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..65bd73722d25f822baedee2b3d27fa791e0ea847 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example18/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0593526683737255e-08, + 5.933356567933958e-10, + -7.661310236482137e-07 + ], + "orientation": [ + 1.0, + 7.152965532618117e-10, + -1.475776731673558e-09, + 7.073341879513213e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.12141241489271996, + 0.16198525311312287, + 0.7709990941498926 + ], + "orientation": [ + 0.9999917096959502, + 0.0007979037148751396, + -0.00039499850526492037, + 0.003973394671349981 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.2304293230093226, + -0.15312586634005793, + 0.7649981422079716 + ], + "orientation": [ + 3.8317552604176515e-05, + 2.5016237764598387e-05, + 0.7073879215143516, + 0.7068255275536945 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_0/sanji.xml", + "position": [ + -0.25250453400175255, + -0.15116472378168458, + 0.7650123451185236 + ], + "orientation": [ + 0.7068249272241925, + 0.7073884696829004, + 0.00019564902454728271, + -0.0001921865226891109 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.23542543833946183, + 0.15706573622824047, + 0.7649985519643734 + ], + "orientation": [ + 0.7068257376522208, + 0.7073877124406027, + 1.9762232296630683e-05, + 2.2133668518095936e-05 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.12246257790257564, + -0.040373021604087324, + 0.7614101204890162 + ], + "orientation": [ + 0.7047832415331691, + 0.7091653885718622, + 0.0024361675757325805, + 0.018949912750781988 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example18/input/input.png b/CommenSence/select_toy_common_sense/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..104a2c8117fab46f86e64d791c59c7d0ab2653e8 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79bf0f85486a9de58759135a7a21c2d127bde750bd650f0304b19d1d8b3e2054 +size 944880 diff --git a/CommenSence/select_toy_common_sense/example18/input/input_mask.png b/CommenSence/select_toy_common_sense/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..60538b4e3a8be44003148ccbcedcbb1f61a52597 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:313fcae6b9632038fc004141df6f19c1926a7346f7e28710f2db6c12cdffdd02 +size 817951 diff --git a/CommenSence/select_toy_common_sense/example18/input/instruction.txt b/CommenSence/select_toy_common_sense/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6ad28090bbb553e916734c1b02ce62cc469e364b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example18/input/instruction.txt @@ -0,0 +1 @@ + Pick a toy depicted as a loyal pet in its series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example18/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example18/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example19/env_config/env_config.json b/CommenSence/select_toy_common_sense/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4f7b0c24f79027f4bef2579c03a0d6605d4a251f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example19/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8201312127331223e-08, + -3.425476587514842e-10, + -7.648832559023783e-07 + ], + "orientation": [ + 1.0, + -6.036115815070882e-10, + -3.646594525078467e-10, + 6.224998048911602e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20242563348622478, + -0.15876766635143258, + 0.7709990958634142 + ], + "orientation": [ + 0.999004413555462, + 0.0008132932692399363, + -0.0003622501290234041, + 0.044602567477772775 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2748756592824266, + 0.14804585605253978, + 0.7655410565847043 + ], + "orientation": [ + -0.004868578664469226, + 0.004826964470857192, + 0.7073712128458459, + 0.7068090014938845 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.06779102851497824, + 0.1583977034746573, + 0.764998729072222 + ], + "orientation": [ + -3.612064736699969e-05, + -3.659317935982497e-05, + 0.7073876159386562, + 0.7068258329835305 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.11887993810365759, + -0.1422397828152626, + 0.7653892182931384 + ], + "orientation": [ + -0.0035035611485257677, + 0.003437437792819086, + 0.7073794317967625, + 0.7068169837741511 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2697464208395843, + -0.06739865520559155, + 0.7649983936057324 + ], + "orientation": [ + -1.9959841046917677e-05, + -1.8368112735447372e-05, + 0.707387940320247, + 0.7068255096936542 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example19/input/input.png b/CommenSence/select_toy_common_sense/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7d401d1b927ad4613e87731e1724bfcf025d49c5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408a23f49b14989de5c9447b5ad2786ff5774673df9750a07f7470a413535a9a +size 912379 diff --git a/CommenSence/select_toy_common_sense/example19/input/input_mask.png b/CommenSence/select_toy_common_sense/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4b3b02870ff5803366fea6386702cf8e112cf82a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bcfdea96a1467ca27c92cd014d836b37c8f9b597138e08a0cd68b15c85128c9 +size 790142 diff --git a/CommenSence/select_toy_common_sense/example19/input/instruction.txt b/CommenSence/select_toy_common_sense/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad0faf7e9f88f61ab8db5035651b3954b0a1c03b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example19/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the DC Universe series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example19/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example19/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example2/env_config/env_config.json b/CommenSence/select_toy_common_sense/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..86d2caa98a4c122319137371cec979be5b9e6a90 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example2/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.173024680258404e-10, + 2.4856375186762914e-10, + -7.719669223634358e-07 + ], + "orientation": [ + 1.0, + -2.3188798535565513e-09, + 5.089240774144143e-09, + 9.884823372296716e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.28513983176275415, + -0.030771681586087476, + 0.7709990914858643 + ], + "orientation": [ + 0.9974299453665817, + 0.0007657525849585406, + -0.0004541874823041159, + -0.07164294398422416 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.2141335390267313, + 0.15184934059407434, + 0.7649597309559971 + ], + "orientation": [ + 0.7068258420490785, + 0.7073874654509856, + -0.00032130029316747413, + 0.00031543709909519826 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + 0.06445743149595032, + -0.15066547219212942, + 0.7662637114587311 + ], + "orientation": [ + 0.7067337847107438, + 0.7072965513122652, + -0.011347336945825261, + 0.011409820088056345 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.12455579489308734, + 0.16719154597429278, + 0.7651577939934392 + ], + "orientation": [ + 0.706823343905464, + 0.7073872077464004, + 0.001405096088628216, + -0.0014575774523246413 + ], + "class": "Toy" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + 0.21883727867097125, + -0.06726436944914503, + 0.7649984071003095 + ], + "orientation": [ + -1.3240550011450847e-05, + -1.7828113178428976e-05, + 0.7073880562503614, + 0.7068253938429065 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example2/input/input.png b/CommenSence/select_toy_common_sense/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eca82e35b00aa57cac7dac6be8c55927f9be5c02 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4858de6b89b43cfea57a8ce5c33d75a63b4dbc1b0ab26ce1dd34444bf61b8c29 +size 918773 diff --git a/CommenSence/select_toy_common_sense/example2/input/input_mask.png b/CommenSence/select_toy_common_sense/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cf6a080af25990a6972ea1a9aaad532ff8ed99b8 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddf1bb724b814f9bf90f868ac37c5d8c013a35135d58a9265be7e71a5786a8e2 +size 789223 diff --git a/CommenSence/select_toy_common_sense/example2/input/instruction.txt b/CommenSence/select_toy_common_sense/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d9edaddc9fe9d2179ba8acab418f21e54570ed3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example2/input/instruction.txt @@ -0,0 +1 @@ + Locate a character from the world of pirates and treasure. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example2/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example2/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example20/env_config/env_config.json b/CommenSence/select_toy_common_sense/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e669e318da43c8c895d6e89bf39107b036a015af --- /dev/null +++ b/CommenSence/select_toy_common_sense/example20/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.390844984447234e-09, + 5.231586761609852e-12, + -7.627033462217236e-07 + ], + "orientation": [ + 1.0, + -8.813824539213118e-10, + -6.798579140929636e-10, + -9.100348134612508e-11 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.0390682948129458, + -0.16831523500450604, + 0.770999098053811 + ], + "orientation": [ + 0.997736276685303, + 0.0008212974568386466, + -0.00034371682837455595, + 0.06724231937833053 + ], + "class": "CommonContainer" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2800405020082645, + 0.1439290016810344, + 0.7649968175873277 + ], + "orientation": [ + 1.255137001810443e-05, + -8.142184469019293e-06, + 0.7073899533074318, + 0.7068234954611202 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_1/one_piece_pirate_warriors__tony_tony_chopper.xml", + "position": [ + 0.2145419284919187, + 0.15657583693583213, + 0.7649985289561353 + ], + "orientation": [ + 0.7068256934975528, + 0.7073877558761305, + 2.8646569792050514e-05, + 3.205635017126965e-05 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + -0.25354052176653913, + -0.13347675493530342, + 0.764997753830876 + ], + "orientation": [ + 0.7068255818519127, + 0.7073878686653337, + 8.502667785664792e-06, + 5.703201528608139e-06 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ironman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example20/input/input.png b/CommenSence/select_toy_common_sense/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d1ed91ca35b9835e268d9654c70807e063e74556 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d20228f8015a1565dd0f41e4736eee6c718b55a231ae5d8682419862a7fe1a3 +size 919671 diff --git a/CommenSence/select_toy_common_sense/example20/input/input_mask.png b/CommenSence/select_toy_common_sense/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..92370122d005678c46a38834c0469a3bd877cf51 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:033ceaa7a446134138a7903a2d9bc36d2cbe632de91d3f212743258e2f68fe27 +size 807936 diff --git a/CommenSence/select_toy_common_sense/example20/input/instruction.txt b/CommenSence/select_toy_common_sense/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4cae6ca7ae35c243584fc6623df87f3b8461b02a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example20/input/instruction.txt @@ -0,0 +1 @@ + Locate the toy associated with advanced technology and weaponry. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example20/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example20/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example21/env_config/env_config.json b/CommenSence/select_toy_common_sense/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4a16973b828184c6a8b21ae11de9bcde513eadc4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example21/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.2323085178122032e-08, + 2.269196738640733e-10, + -7.712282727016172e-07 + ], + "orientation": [ + 1.0, + 1.3321062031719261e-09, + -3.113446599437555e-09, + -1.4758308632834423e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.2798020413671877, + 0.1421174735050062, + 0.7709990878151262 + ], + "orientation": [ + 0.9992876684163576, + 0.0007807399977794787, + -0.0004279273177542423, + -0.037727484335267354 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + 0.21757236918563022, + -0.169600667636995, + 0.7670872003547485 + ], + "orientation": [ + 0.7065833487871394, + 0.7071441245881983, + -0.018566856140181307, + 0.018504867743711798 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.05634515000170635, + 0.13832010546476708, + 0.7654726828781536 + ], + "orientation": [ + 0.7068127963333836, + 0.7073755688064752, + -0.004178960062985917, + 0.004244041457282391 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.11478604471030203, + -0.16168453036275438, + 0.7654325309482853 + ], + "orientation": [ + 0.706810238364283, + 0.7073734683545118, + -0.004552348360213449, + 0.0046194519091862975 + ], + "class": "Toy" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.2650042144277621, + -0.04205168242492525, + 0.7661721264336125 + ], + "orientation": [ + 0.70674819389114, + 0.7073118451974033, + -0.010385361584207805, + 0.010444536362161208 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example21/input/input.png b/CommenSence/select_toy_common_sense/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..002836e3440b9061767ebc4cf2659c62d9b45d86 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1d745525b40a8080d1b7b185aa0c094f84f68cb3fcec3f7f73f2e10e1b16d33 +size 934886 diff --git a/CommenSence/select_toy_common_sense/example21/input/input_mask.png b/CommenSence/select_toy_common_sense/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0164b3fdbcd4f72d28cd847676335f2c6bf2c138 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d21ecd42d8a36894dae9782ef1c7283e85818a62240e66b68408beb3458074b7 +size 811717 diff --git a/CommenSence/select_toy_common_sense/example21/input/instruction.txt b/CommenSence/select_toy_common_sense/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9de3a01e997b22fdf19af495194883d09ce62305 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example21/input/instruction.txt @@ -0,0 +1 @@ + Find a toy that is known for yodeling. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example21/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example21/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example22/env_config/env_config.json b/CommenSence/select_toy_common_sense/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1414faac02ffe71c5de3b24230ec4e219d2c758e --- /dev/null +++ b/CommenSence/select_toy_common_sense/example22/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.046322925739902e-09, + 5.034827919169507e-11, + -7.693788412642923e-07 + ], + "orientation": [ + 1.0, + -1.5346588971343335e-09, + 7.762247776806994e-10, + 2.396237020690322e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.2782133227956691, + -0.06762221018131374, + 0.7709990916679994 + ], + "orientation": [ + 0.9999806770156401, + 0.0007938609198061986, + -0.0004030553716279212, + -0.006152473205780033 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + 0.21109202274209718, + 0.14841421498687465, + 0.7655758120403688 + ], + "orientation": [ + 0.7068063850626979, + 0.7073694956721218, + 0.005133819760519328, + -0.005174410288757158 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.06214006194094213, + -0.146632423870804, + 0.7650603882534689 + ], + "orientation": [ + 0.7068253976126587, + 0.7073875967482007, + -0.0005703185867160516, + 0.0005656794337182173 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.1171818097265942, + 0.16427627185957627, + 0.764998015998195 + ], + "orientation": [ + 1.813536846102258e-05, + 2.379266482633001e-05, + 0.7073882670677082, + 0.7068251825734291 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + 0.23605010138910007, + -0.06952306187013652, + 0.7650612557419527 + ], + "orientation": [ + 0.7068252634672157, + 0.7073877376383984, + -0.000560543746685831, + 0.0005668809731566903 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example22/input/input.png b/CommenSence/select_toy_common_sense/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..68425c85f4815c0bd3031a77a1e945e3b196297c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616bc8f74e8f9475dd3cbe5fbf456520e4a6e551f5f472bcda63a4edcd6f8820 +size 902228 diff --git a/CommenSence/select_toy_common_sense/example22/input/input_mask.png b/CommenSence/select_toy_common_sense/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5cd922c39961ee70681e0482829dc42f90cb7258 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8b5ed43ab6b9baa5a2707c6acec0c8e0ff20841023fa96cc3754092f18a1b84 +size 770698 diff --git a/CommenSence/select_toy_common_sense/example22/input/instruction.txt b/CommenSence/select_toy_common_sense/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a410c8ad1e4ee9dc38f5eda5e46acafe4ef3e92d --- /dev/null +++ b/CommenSence/select_toy_common_sense/example22/input/instruction.txt @@ -0,0 +1 @@ + Look for a humanoid character in the Marvel collection that has a Mind Stone on its forehead. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example22/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example22/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example23/env_config/env_config.json b/CommenSence/select_toy_common_sense/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c37448f115eea037b0c62d8d47860ee85d6fb64e --- /dev/null +++ b/CommenSence/select_toy_common_sense/example23/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.845800376439931e-08, + 5.0844078403153904e-09, + -7.998486493675005e-07 + ], + "orientation": [ + 1.0, + 8.266243184116083e-09, + -1.8780917665713292e-09, + 5.052920257565093e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.05196166713761969, + 0.15179640107669762, + 0.770999063263678 + ], + "orientation": [ + 0.999149799406648, + 0.0007792474798581995, + -0.0004306501267007174, + -0.04121754067732933 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + -0.26425379583221914, + -0.1701153906169253, + 0.7750614147933004 + ], + "orientation": [ + 0.21671070249975585, + 0.04492435636713199, + 0.7016560236944805, + 0.6772718051420068 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.22193214853066545, + -0.16807737213082616, + 0.7613138021355099 + ], + "orientation": [ + 0.7031057119955552, + 0.7110718717300575, + -0.0031573158044928902, + 0.0030302393380984747 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.2753270101728914, + 0.1653539025667651, + 0.7686740668421855 + ], + "orientation": [ + -0.032695798744421675, + 0.03275301473720175, + 0.7066281986583463, + 0.7060699778569751 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.0966180292569351, + -0.05834452591995645, + 0.7665085314741469 + ], + "orientation": [ + -0.016482629232831097, + -4.144216121264465e-05, + 0.7021563439722159, + 0.7118319955127682 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "donald" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example23/input/input.png b/CommenSence/select_toy_common_sense/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5e5ba1e69acd210cf1946de4d8e3588491e2cfb7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7409db2c4f31384d26f69f20da4f26140a20022a54c53634689ba4afb8a155a2 +size 898867 diff --git a/CommenSence/select_toy_common_sense/example23/input/input_mask.png b/CommenSence/select_toy_common_sense/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d1d67ad2b86d888bd21425d891095e91c48a0ca5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ea6e9847bdd695820906c87d814efb1f040206d5f8712a8989954fad0d0a9d +size 774935 diff --git a/CommenSence/select_toy_common_sense/example23/input/instruction.txt b/CommenSence/select_toy_common_sense/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..07b82975a98978249a5fb758dba48745decf7914 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example23/input/instruction.txt @@ -0,0 +1 @@ + Locate the character known for wearing a sailor shirt and cap in the Disney lineup. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example23/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example23/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example24/env_config/env_config.json b/CommenSence/select_toy_common_sense/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..747a78e720c9ea4dc0f09855047207cb680e5967 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example24/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.3475383833477313e-08, + 3.9878778593985986e-10, + -7.772596257234536e-07 + ], + "orientation": [ + 1.0, + -3.4916633261002294e-09, + 9.037643293915936e-10, + -3.6466334476345618e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.2706588520682028, + -0.048877860804610054, + 0.7709990839783568 + ], + "orientation": [ + 0.9995052141664387, + 0.0007834113369896796, + -0.0004230039490903322, + -0.031440963541820834 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.20569572765827132, + 0.1453827301588626, + 0.7650082365891313 + ], + "orientation": [ + 0.7068247339980676, + 0.7073886390900123, + -0.0002168999872253551, + 0.00024829284623271454 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.052004888134809274, + -0.16431476964947878, + 0.76517598680362 + ], + "orientation": [ + 0.7068252207450136, + 0.7073845716053907, + 0.0016070221558416506, + -0.0016101717957804527 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.12442018034915937, + 0.14839274238494427, + 0.7657668803068438 + ], + "orientation": [ + 0.7067919387497618, + 0.7073544788502696, + -0.006860106064547385, + 0.006909089201880693 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "donald" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example24/input/input.png b/CommenSence/select_toy_common_sense/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1fea08e14cbc9246cfc3aef0875db7f08b1816ad --- /dev/null +++ b/CommenSence/select_toy_common_sense/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bdb09b6e1f05a6ffce2d909cff02a497a4c9b464dd604d701b9867fb32ff1b2 +size 910244 diff --git a/CommenSence/select_toy_common_sense/example24/input/input_mask.png b/CommenSence/select_toy_common_sense/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cd2c8277a8674fec501ac59650ced978f1b17045 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d3d8e80c29479f0fa89aaba319ac091adcad9711fd27c606798edbf60fd0363 +size 790451 diff --git a/CommenSence/select_toy_common_sense/example24/input/instruction.txt b/CommenSence/select_toy_common_sense/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3a914aef6a8508512ca925c936ba878b8f92466 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example24/input/instruction.txt @@ -0,0 +1 @@ + Select the character with a blue sailor shirt and cap from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example24/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example24/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example25/env_config/env_config.json b/CommenSence/select_toy_common_sense/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f55677231268f98e423d92aac006fd38fffded37 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example25/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1033336316729206e-07, + -2.9546541696476804e-08, + -7.950156333461601e-07 + ], + "orientation": [ + 0.9999999999999994, + 3.3916627121299302e-09, + 6.476371165841306e-09, + 1.6522175808839765e-08 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.22043894787022425, + -0.15966427745098288, + 0.7709990614536089 + ], + "orientation": [ + 0.9999711992607103, + 0.0007933069426221032, + -0.00040414848479776314, + -0.007537106685864605 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.25549848601981123, + 0.16920322372947413, + 0.7655652915082377 + ], + "orientation": [ + -0.00503325407921697, + 0.005008440681173636, + 0.7073699199713542, + 0.7068078792677942 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.05662904612510459, + 0.15794682973386087, + 0.7649982282383637 + ], + "orientation": [ + -2.530777110506289e-05, + -2.065619925952504e-05, + 0.7073883428039401, + 0.7068251066550569 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.10419945790707523, + -0.16191573605596904, + 0.7657940203766759 + ], + "orientation": [ + 0.713933768611557, + 0.7002131576609548, + 0.00012941692122172432, + 0.00030187056004841946 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example25/input/input.png b/CommenSence/select_toy_common_sense/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dca4114b18c9a62e0ac41ff6add1e6840d4e5935 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1acd647c07d9f3c03d2ddbf2c862d8ff8d0044e37fdf35bfb62a3e4150d1e9c +size 901075 diff --git a/CommenSence/select_toy_common_sense/example25/input/input_mask.png b/CommenSence/select_toy_common_sense/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..55b41f950c6297b905c1b49cf2675217ca896405 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:702cb679ac4e56a732a9a420508c5f72a31137a93427d65d2ad701e349d6d5b6 +size 777678 diff --git a/CommenSence/select_toy_common_sense/example25/input/instruction.txt b/CommenSence/select_toy_common_sense/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7ad5fbffdc16c4cbfe6cb0aa270b4721188765b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example25/input/instruction.txt @@ -0,0 +1 @@ + Pick a toy from the Marvel series who has spider-like abilities. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example25/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example25/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example26/env_config/env_config.json b/CommenSence/select_toy_common_sense/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9a4ad7b85b9d6f679762830a9ca32b96873e97 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example26/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.160159073139288e-08, + -3.160816059511047e-10, + -7.746872915813725e-07 + ], + "orientation": [ + 1.0, + 3.399233953954452e-09, + -2.0776347206846887e-09, + 4.074742556135033e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.22135750225820763, + 0.14178063966529528, + 0.7709990876036967 + ], + "orientation": [ + 0.9982015925725869, + 0.0007710330130149939, + -0.0004451820268323592, + -0.0599398690906735 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2515404241627892, + -0.13263299385680868, + 0.7659007377942689 + ], + "orientation": [ + 0.008448774422472882, + -0.008369884851396149, + 0.7073379749507726, + 0.7067754611125605 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + 0.04686605819449329, + -0.14394791648408534, + 0.7650228553271993 + ], + "orientation": [ + -0.00023296784167221805, + 0.00023322044790450853, + 0.7073876868434239, + 0.7068256870236952 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.0931981169281512, + 0.13857274393488234, + 0.7598615407416008 + ], + "orientation": [ + 0.7069766494954375, + 0.7072368812160041, + 4.23169576609942e-06, + -0.00010439424234951208 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.11440288619496287, + -0.04445927247873944, + 0.767025704612923 + ], + "orientation": [ + 0.018249575739809294, + -0.018150138119909107, + 0.7071548597610646, + 0.7065900719567564 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example26/input/input.png b/CommenSence/select_toy_common_sense/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..50a95cf396387f9ad190c6f57ab12e7a4de7b691 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d91e0b6961343095d2d7876d7b687abb24a6efc378bc148ea908364ab0349c34 +size 921569 diff --git a/CommenSence/select_toy_common_sense/example26/input/input_mask.png b/CommenSence/select_toy_common_sense/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c7a05eb30c114fced32dd3e38f8947bca51f0803 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e40c0785e7c7840fbee8a054a48d9bb1b4cd02aec2f0ac5af0891a7a3310ddbe +size 791218 diff --git a/CommenSence/select_toy_common_sense/example26/input/instruction.txt b/CommenSence/select_toy_common_sense/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..68ddfab023ad3a4e181f109c4e5ba82b9b6749d1 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example26/input/instruction.txt @@ -0,0 +1 @@ + Pick a toy that belonged to the Whitebeard Pirates as Second Division Commander in the One Piece universe. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example26/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example26/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example27/env_config/env_config.json b/CommenSence/select_toy_common_sense/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7257c65bc3c2954584ed8e320322a91535842b78 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example27/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.048591942566291e-09, + -3.317903513572968e-10, + -7.714572995598263e-07 + ], + "orientation": [ + 1.0, + 4.5558443085070876e-10, + -3.187509800417221e-09, + -3.6687516943965233e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.05555931510654179, + -0.04393282415364532, + 0.7709990892642553 + ], + "orientation": [ + 0.999760404631722, + 0.0007874290160801056, + -0.0004154887058207672, + -0.021871000326831966 + ], + "class": "CommonContainer" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + -0.27880795448942, + 0.13691099210455046, + 0.7649989080002628 + ], + "orientation": [ + 3.589426762625018e-06, + 3.5964416301099364e-06, + 0.7073882012462711, + 0.7068252490621336 + ], + "class": "Toy" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.2757638260565589, + -0.15287203882066613, + 0.7659396026657578 + ], + "orientation": [ + -0.008567205072986693, + 0.008519832619560809, + 0.707335788501097, + 0.7067744320183805 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.22095305604872126, + 0.13122748737793197, + 0.7651025970621846 + ], + "orientation": [ + 0.0009461389018775962, + -0.0009252987263448848, + 0.7073872095742874, + 0.7068250026521047 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ironman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example27/input/input.png b/CommenSence/select_toy_common_sense/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..91175cd681a9eee54c5ffe53708d679150e953a1 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f81f12c39e9a52b5ef0d4a7dded187592dcc28c8e82ba8c50216f20332af5c9 +size 927083 diff --git a/CommenSence/select_toy_common_sense/example27/input/input_mask.png b/CommenSence/select_toy_common_sense/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7844ad226d5692105e0bdc4d776cbed671788c7c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae898be5231d7694d7cc80007dd74f0d349f75ce6d558bb327f9e5b858abb286 +size 813616 diff --git a/CommenSence/select_toy_common_sense/example27/input/instruction.txt b/CommenSence/select_toy_common_sense/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..01defeb299eb135b7601b17d7f9ae61f81d0b94f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example27/input/instruction.txt @@ -0,0 +1 @@ + Find a toy associated with Stark Industries. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example27/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example27/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example28/env_config/env_config.json b/CommenSence/select_toy_common_sense/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3ecc0b179adcce4a331c848451f468d96ef9c89d --- /dev/null +++ b/CommenSence/select_toy_common_sense/example28/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8741698167794144e-09, + 7.574226458814123e-12, + -7.605591976621088e-07 + ], + "orientation": [ + 1.0, + 3.72211134133049e-10, + -1.238128418785804e-09, + -6.910650228548296e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.051415213719975296, + 0.14898296463113, + 0.7709991000867793 + ], + "orientation": [ + 0.9969745118705746, + 0.0007629717699263037, + -0.0004588548245833806, + -0.07772406324142196 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.2875315253520492, + -0.16824927741935, + 0.7649984432494572 + ], + "orientation": [ + 0.7068256132479931, + 0.7073878373202617, + -4.5441882645710826e-06, + -6.878308515764915e-06 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.2151815030914748, + -0.1364537424906291, + 0.7650197120121336 + ], + "orientation": [ + 0.7068254006100789, + 0.7073879080041238, + 0.0002898218155939194, + -0.00034156297692517943 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.27554373068954324, + 0.13071892908210553, + 0.7649923410604014 + ], + "orientation": [ + 5.2471523396059965e-05, + -4.735300244866751e-05, + 0.7073876439667577, + 0.7068258032695124 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example28/input/input.png b/CommenSence/select_toy_common_sense/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..29ca6e85cfdef3523be95bc56f2705108f63fa35 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5105c40e78a85c46c42d1da86d5c0255d145a3ca5690d1a31d6f18b1ed7b0dfe +size 894793 diff --git a/CommenSence/select_toy_common_sense/example28/input/input_mask.png b/CommenSence/select_toy_common_sense/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d215af8dd2bff44ff29d3d9a73dd4f7903663cee --- /dev/null +++ b/CommenSence/select_toy_common_sense/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b2772af7bed46ae704427ec871aa2dcbbe337d30c5f64085003d72ced5f23a8 +size 774929 diff --git a/CommenSence/select_toy_common_sense/example28/input/instruction.txt b/CommenSence/select_toy_common_sense/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d090aa15d259d62ec03d642b11ac692c5351284b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example28/input/instruction.txt @@ -0,0 +1 @@ + Select a toy from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example28/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example28/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example29/env_config/env_config.json b/CommenSence/select_toy_common_sense/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..882dd4d7c5de5d0f96a7807e146773126230194b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example29/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.776850142592e-09, + 1.1723337610855176e-09, + -7.670445629517105e-07 + ], + "orientation": [ + 1.0, + 1.6760444636642405e-09, + -5.128676089399097e-10, + -9.568355354510565e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.22065106644960017, + 0.060538712850344935, + 0.770999093792362 + ], + "orientation": [ + 0.9979132241045562, + 0.0007689607256835221, + -0.00044874741090731847, + -0.06456318209640524 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2509545366952839, + -0.14518771620959497, + 0.7649989687654998 + ], + "orientation": [ + -4.771975974375304e-05, + 1.752648506414999e-05, + 0.7073876218828858, + 0.7068258270766024 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + -0.10615222258950067, + 0.1665056933826699, + 0.7616547143479883 + ], + "orientation": [ + 0.7071706968587764, + 0.7070377340288834, + -0.001911887122034371, + 0.001895481788079723 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.04784434274470086, + -0.16785012544535446, + 0.7649983828161103 + ], + "orientation": [ + 0.7068220615154476, + 0.7073893761518099, + -0.0011896029299679042, + -0.0011952855210980125 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_1/batmantexturedrigged.xml", + "position": [ + -0.08817445046969256, + -0.053795710099689226, + 0.7649987683219894 + ], + "orientation": [ + 5.230145265886664e-06, + 5.272564687626293e-06, + 0.7073877140066049, + 0.7068257366687738 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example29/input/input.png b/CommenSence/select_toy_common_sense/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cdc0d9ee9063cab2cf5b6df8d41d71312920ddc7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e804b3355e6954941b70895554e6e5cc5f9602bf5d62f0c1ded6a9a995fbb076 +size 917481 diff --git a/CommenSence/select_toy_common_sense/example29/input/input_mask.png b/CommenSence/select_toy_common_sense/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e78f91e243409a9f8ee18b2a10d4a83de01944be --- /dev/null +++ b/CommenSence/select_toy_common_sense/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93faadc8463a97c2b7efca75298e82c27ef6860f33d4e0aacaf66c6d64d87c9e +size 799745 diff --git a/CommenSence/select_toy_common_sense/example29/input/instruction.txt b/CommenSence/select_toy_common_sense/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..48813704ebf9baf6942e91e805c35ff229c7c3d1 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example29/input/instruction.txt @@ -0,0 +1 @@ + Find the toy with a straw hat symbol from One Piece series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example29/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example29/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example3/env_config/env_config.json b/CommenSence/select_toy_common_sense/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..88a8878af87a954c4774311f337008eb5e128340 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example3/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.608065428016346e-08, + 2.5275331308606243e-09, + -7.953857735741564e-07 + ], + "orientation": [ + 0.9999999999999992, + 1.1457370551971264e-08, + 1.3350320399808326e-08, + -6.535229205074757e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.23454191342284125, + 0.04068986616798624, + 0.770999059691694 + ], + "orientation": [ + 0.9997967446888165, + 0.0007881572744804358, + -0.00041410910181679384, + -0.02014141582435055 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2571264731608995, + -0.14226388034319165, + 0.7650861712577597 + ], + "orientation": [ + 0.7068248705921562, + 0.7073876923171476, + -0.0007890424634578187, + 0.0007952877420510833 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + -0.12269748287138318, + 0.14802686320702566, + 0.7660967267835506 + ], + "orientation": [ + 0.7067575422416562, + 0.7073209722566567, + 0.009727995576145435, + -0.009807384590313504 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + 0.07617628769222168, + -0.1676508567385211, + 0.7650895657275094 + ], + "orientation": [ + -0.0008140314194973935, + 0.0008134266763913046, + 0.7073764352392494, + 0.7068360874758038 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.09406422154631183, + -0.06777429484275778, + 0.7649987115814147 + ], + "orientation": [ + -1.478004797133929e-05, + -1.6985226477413928e-05, + 0.7073883442765962, + 0.7068251055775162 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example3/input/input.png b/CommenSence/select_toy_common_sense/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..70ef138747f6140140cbd0b1cf380906e802b6d9 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4735120a43f9be35f9ecbf7178fdea462c172362c23395c8e4e75dd3f2ac6777 +size 905553 diff --git a/CommenSence/select_toy_common_sense/example3/input/input_mask.png b/CommenSence/select_toy_common_sense/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4afd0f51f844808b28dbfa908953ab82ce2af688 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6182907488913725dfaed40e7a747ac147a8c519d45b2cb60f1c098120e99feb +size 776632 diff --git a/CommenSence/select_toy_common_sense/example3/input/instruction.txt b/CommenSence/select_toy_common_sense/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..effaacf64fee13d78f8ab1a885dd744d948dddee --- /dev/null +++ b/CommenSence/select_toy_common_sense/example3/input/instruction.txt @@ -0,0 +1 @@ + Find the toy character who is a cowgirl. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example3/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example3/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example30/env_config/env_config.json b/CommenSence/select_toy_common_sense/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3420ffa180fbd8f755f449ebf7974564983e3fc4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example30/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3712904469834643e-08, + 3.380137152569511e-10, + -7.744875648920703e-07 + ], + "orientation": [ + 1.0, + 2.7879765581552414e-10, + 4.708309888155744e-09, + 2.7337171901541985e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.25316706014248097, + 0.057841167599869056, + 0.7709990883361979 + ], + "orientation": [ + 0.9977441090048246, + 0.0008212589002935074, + -0.0003438072746482979, + 0.06712600298354106 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + 0.23502895172897928, + -0.13302039504233817, + 0.765930406970592 + ], + "orientation": [ + 0.7067775257633828, + 0.7073388397888338, + -0.008267031361173096, + 0.008303673551603686 + ], + "class": "Toy" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.0670833092601026, + 0.15749634185120895, + 0.7661549070388256 + ], + "orientation": [ + 0.7067490965818338, + 0.7073139440220194, + 0.010275046547062272, + -0.010349999576480116 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.09377285729046018, + -0.15341884038485107, + 0.7668969704396971 + ], + "orientation": [ + 0.7066241799637296, + 0.707188229586676, + 0.016801177105565383, + -0.01687591990137743 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "luffy" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example30/input/input.png b/CommenSence/select_toy_common_sense/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e5f08e0ac08961e1454331ed4a61cae0b357b596 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d57d4ac775e3e5cec5e33f1809f3b8839dc81508c926e7d52badf6a8971a7801 +size 931510 diff --git a/CommenSence/select_toy_common_sense/example30/input/input_mask.png b/CommenSence/select_toy_common_sense/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d56a475a8d6ec4b042e8ff30a92312cfdfb72ae9 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e45452ff2d774bb09a50e8402a3b7a6a4a90ea88c2899fa319ef98cf292b06c +size 813475 diff --git a/CommenSence/select_toy_common_sense/example30/input/instruction.txt b/CommenSence/select_toy_common_sense/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..079ded8e41bee3482aea21432e455fd6f66fa637 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example30/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the One Piece series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example30/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example30/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example31/env_config/env_config.json b/CommenSence/select_toy_common_sense/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d19b993bd19a51def5da49cba5fae71b2ee5cc99 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example31/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.273030213031765e-08, + 1.6031585447708862e-09, + -7.74285569608587e-07 + ], + "orientation": [ + 1.0, + -4.308802587528479e-11, + -6.8812079454289774e-09, + -5.236505617578905e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.041870824282409305, + -0.04804429271502451, + 0.7709930904034445 + ], + "orientation": [ + 0.9984793375016542, + 0.0007742142800848428, + -0.0004254680292469427, + -0.055120161025373676 + ], + "class": "CommonContainer" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.2635402873308589, + 0.16114990012500865, + 0.7653847376576706 + ], + "orientation": [ + 0.7068172375207583, + 0.7073754079957324, + -0.0038336058229835146, + 0.0038377562178693475 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.26159137138943733, + -0.162618921541989, + 0.7649917358798533 + ], + "orientation": [ + -3.1027677081951574e-05, + -8.52301225192454e-06, + 0.7073880664302327, + 0.7068253832713827 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.2265231603674302, + 0.13304649670547541, + 0.7663329638719217 + ], + "orientation": [ + 0.01212123287710529, + -0.012054013519083065, + 0.707284757983506, + 0.7067220440851091 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.08314858573555105, + 0.06730596293629144, + 0.7717927544494686 + ], + "orientation": [ + 0.706144467587562, + 0.7022393417564042, + -0.0816763913832399, + 0.03935562063571093 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "vision" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example31/input/input.png b/CommenSence/select_toy_common_sense/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dffe734ac73de4811b401a9c35fecf54138a9a44 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b616afe505a9f05bc8c01cc0803f9ed72f20d64525df242075dd27ef3be2926 +size 873994 diff --git a/CommenSence/select_toy_common_sense/example31/input/input_mask.png b/CommenSence/select_toy_common_sense/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aa4c2836f160b49f02a0624834337f770d520df5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:368302fb0613fbf26fc3b6d6a720da4c1eee90658e14c32b3bdb3413615d809f +size 756627 diff --git a/CommenSence/select_toy_common_sense/example31/input/instruction.txt b/CommenSence/select_toy_common_sense/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d062fffdd2aa96366767395c6f93c3c263ea570 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example31/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy that is a Marvel superhero capable of altering his density. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example31/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example31/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example32/env_config/env_config.json b/CommenSence/select_toy_common_sense/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..47aaae4776349c7c6b65486aff91e1bb9c2bd08b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example32/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.850988945232647e-09, + -4.698893220855344e-10, + -7.595508753190636e-07 + ], + "orientation": [ + 1.0, + -2.6499419259597755e-10, + -5.823635554174236e-10, + -1.0844792499645513e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.06515038957232563, + 0.15479136472288973, + 0.7709991008502748 + ], + "orientation": [ + 0.9999989823118458, + 0.0007958826076975867, + -0.0003990523453251507, + -0.0011147660627419784 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.2869935700383468, + -0.13136045174197578, + 0.7598611036016932 + ], + "orientation": [ + 0.7070155466865674, + 0.7071869177949195, + -0.002899299934337501, + -0.0026970545242015935 + ], + "class": "Toy" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.21202811805594346, + -0.16970261024274055, + 0.765135927296514 + ], + "orientation": [ + 2.7359251521253377e-06, + 8.697268788984224e-06, + 0.7087153438249061, + 0.7054945508960493 + ], + "class": "Toy" + }, + { + "name": "wonder_woman", + "xml_path": "obj/meshes/toys/DC/wonder_woman/wonder_woman_0/wonder_womantexturedrigged.xml", + "position": [ + -0.25489232606068785, + 0.15825929871290773, + 0.7651614636467622 + ], + "orientation": [ + -0.0015734883257324925, + 0.0015890381417851787, + 0.707385931765496, + 0.7068239827796824 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "mickey" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example32/input/input.png b/CommenSence/select_toy_common_sense/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3c01c0eb25ac790f77472c29a3a18d7bc3c6d88b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7370552e48a63ba62d0b9ec6c9df61b9577fc65e1d9148b780bce8e4ac5643a5 +size 891774 diff --git a/CommenSence/select_toy_common_sense/example32/input/input_mask.png b/CommenSence/select_toy_common_sense/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..268b6428ba884852f2c6a82fa56c3eb216a6c413 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c84d5417a363e185dce087a42e7cb4d5c1708defd889a91e5d35298dc8b4238 +size 779307 diff --git a/CommenSence/select_toy_common_sense/example32/input/instruction.txt b/CommenSence/select_toy_common_sense/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3286e05a8c8c6476708d311a39335033bb2cc313 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example32/input/instruction.txt @@ -0,0 +1 @@ + Identify the figure with red shorts and large yellow shoes. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example32/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example32/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example33/env_config/env_config.json b/CommenSence/select_toy_common_sense/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bef76c8b74859eeb53dfd805dd4da74e52fa83b7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example33/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1964517205747516e-08, + -1.265578242814104e-10, + -7.74386106149023e-07 + ], + "orientation": [ + 1.0, + 3.3602290000721274e-09, + 5.507373343044352e-09, + 1.3141857468313576e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.28550543460284716, + 0.03955964600992963, + 0.7709990894316571 + ], + "orientation": [ + 0.9998724260991679, + 0.0007898792949291354, + -0.0004108079285704805, + -0.015948004706185192 + ], + "class": "CommonContainer" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + 0.2203331065622494, + -0.16946226771524153, + 0.7652790623522503 + ], + "orientation": [ + -0.002500303091453938, + 0.002489501594446127, + 0.7073825415429799, + 0.7068221068886112 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_1/play_station_2_-_disney_move_-_daisy_duck.xml", + "position": [ + 0.07413444676655141, + 0.1542914291355646, + 0.7651579584888522 + ], + "orientation": [ + 0.7068229845084745, + 0.7073864249325132, + 0.001730772057524045, + -0.0016488844150017508 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml", + "position": [ + -0.10261618079840619, + -0.16538317049524007, + 0.7651358704018768 + ], + "orientation": [ + 0.706822839570356, + 0.707388129080872, + 0.001321446126877194, + -0.0013274325957427662 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + 0.04069555803119553, + -0.04236152672778398, + 0.7654223620796633 + ], + "orientation": [ + 0.004054895779178251, + -0.003933401398917849, + 0.707378042750115, + 0.7068128400140112 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "sanji" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example33/input/input.png b/CommenSence/select_toy_common_sense/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c8439e12114ba1ae3c78ace7b03afcb096f05c50 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b172176d1ff933c8ec0556d50a7c5b6f4a543a86210a741b06cfadb2a323bf03 +size 907827 diff --git a/CommenSence/select_toy_common_sense/example33/input/input_mask.png b/CommenSence/select_toy_common_sense/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0269d502b13d3c03216a5e51802eead912616458 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6964d69297cef4352cc6b1a2528009545f4dd5fc849cb0b2b43d189e2688c99c +size 779250 diff --git a/CommenSence/select_toy_common_sense/example33/input/instruction.txt b/CommenSence/select_toy_common_sense/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8da375ab51a10ee4fdb2773ebd80b9b58010ea23 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example33/input/instruction.txt @@ -0,0 +1 @@ + Choose the toy that is a skilled martial artist. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example33/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example33/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example34/env_config/env_config.json b/CommenSence/select_toy_common_sense/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7603d24445d38279c51231de19792c967deb2987 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example34/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.9435043869642865e-09, + -3.7552030656850823e-10, + -7.704744677491817e-07 + ], + "orientation": [ + 1.0, + -5.371158712990694e-10, + -2.289609463903969e-09, + -3.4117195835733045e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.06329461938874094, + -0.020116974077016674, + 0.9609717725019828 + ], + "orientation": [ + 0.02168563711265493, + 0.4562129160894244, + -0.6782731339035034, + 0.5756258022021952 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + 0.23202009778935434, + 0.1320311369970824, + 0.7649986089060056 + ], + "orientation": [ + -2.8405529172760643e-06, + -1.4263135124688822e-06, + 0.7073885465331695, + 0.7068249035111782 + ], + "class": "Toy" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.25027288216112914, + 0.15499067072184014, + 0.7650609682176392 + ], + "orientation": [ + 0.0015196981143653179, + -0.0014674594514204969, + 0.707386106348182, + 0.7068241886254025 + ], + "class": "Toy" + }, + { + "name": "rex", + "xml_path": "obj/meshes/toys/disney/toystory/rex/rex_0/disney_infinity_rex_toy_story.xml", + "position": [ + 0.21384474259808256, + -0.170576588528205, + 0.7620427669505627 + ], + "orientation": [ + 0.7045352714595549, + 0.7089876772888767, + -0.02447601567528732, + -0.01916896915843193 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.2869512951649569, + -0.031086863775715335, + 0.8193300362841102 + ], + "orientation": [ + -0.0048996532176766245, + 0.4312216022267256, + 0.5469091214686248, + 0.7175753173192212 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example34/input/input.png b/CommenSence/select_toy_common_sense/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4a153b242e82e5d54ec1cbd962273c6f89bd3ba3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7a7d2d245e433453937c52ded00e18055cc6baaf6fd51855abc1b6b2061d29e +size 967670 diff --git a/CommenSence/select_toy_common_sense/example34/input/input_mask.png b/CommenSence/select_toy_common_sense/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7c5143c6fb0393db08ab61336476c5aea8328a7c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a91e320c48b8ff26a26fbec230fa7089b697e7f9f110fb737552b59ec3dd612d +size 826836 diff --git a/CommenSence/select_toy_common_sense/example34/input/instruction.txt b/CommenSence/select_toy_common_sense/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5f80b3e7ceb058bdc093d62e54107976cd7f88f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example34/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the Toy Story series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example34/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example34/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example35/env_config/env_config.json b/CommenSence/select_toy_common_sense/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..222daa93637709e394c919546228291a3ce8c1a2 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example35/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.4621399431334995e-09, + 1.4162301098070891e-09, + -7.651558993308249e-07 + ], + "orientation": [ + 1.0, + 1.7131396944571426e-10, + -2.466167715868159e-09, + -1.7060100240097453e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.21808235590155636, + -0.05071109046632543, + 0.7709990963096632 + ], + "orientation": [ + 0.9977864002251087, + 0.0008210405151176837, + -0.0003443342165967775, + 0.06649441218809381 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.2603730489865132, + 0.13882423536551403, + 0.7598789974099127 + ], + "orientation": [ + 0.7068718931730436, + 0.707337318975614, + 0.001975300346405579, + 0.001463562397225339 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.10759933253806328, + -0.13377452840081328, + 0.7653178252104786 + ], + "orientation": [ + 0.7071634636916643, + 0.707040707535528, + -0.0017784262766497646, + 0.0031797338326582355 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.06531019178226054, + 0.13615007438976198, + 0.7650546378171352 + ], + "orientation": [ + 0.7068268060620968, + 0.70738608826165, + -0.0006257893541318674, + 0.0006298838139515981 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_1/one_piece_pirate_warriors__tony_tony_chopper.xml", + "position": [ + -0.26904061867066487, + -0.06385396630311617, + 0.7649983045139631 + ], + "orientation": [ + 0.7068258582644346, + 0.7073875923824968, + 1.0669830304958552e-05, + 1.0871737132142484e-05 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "mickey" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example35/input/input.png b/CommenSence/select_toy_common_sense/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..81a2a620be7418e230dd4914f3c92a62d6d04220 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4870dfd638a202386d23b12bb44c61333b164806e2825bf9f8374707ef94b0b2 +size 900676 diff --git a/CommenSence/select_toy_common_sense/example35/input/input_mask.png b/CommenSence/select_toy_common_sense/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b637ba84216c48525c18ad473ff4050f662d0bd2 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a67d7b000e09502f03b5e612a23d89cbee14abaf9428d53ee9090533dc6c4868 +size 780130 diff --git a/CommenSence/select_toy_common_sense/example35/input/instruction.txt b/CommenSence/select_toy_common_sense/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5f244d6881526f6ee9f73ab5484790fec85db0fb --- /dev/null +++ b/CommenSence/select_toy_common_sense/example35/input/instruction.txt @@ -0,0 +1 @@ + Identify the cartoon character who has round ears and a distinctive high-pitched voice. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example35/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example35/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example36/env_config/env_config.json b/CommenSence/select_toy_common_sense/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e50c623b5b788d453330153d3086279eb6aa3802 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example36/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.952048900922526e-08, + -1.0354258256477899e-09, + -7.737032955215693e-07 + ], + "orientation": [ + 1.0, + -2.8174596046258953e-09, + -7.13281337035236e-09, + 6.146728577316973e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.08980606636495708, + -0.036483486878723145, + 0.7709990856283598 + ], + "orientation": [ + 0.9990574761909603, + 0.0008128533119113923, + -0.0003632373352039702, + 0.04339777177551063 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + 0.23336139850682608, + 0.1362733625135573, + 0.7711319599148654 + ], + "orientation": [ + 0.708340847220245, + 0.7053112356677578, + 0.019604975930429824, + -0.020123367483923797 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.2222504598685499, + -0.1476372936129877, + 0.7649983081920464 + ], + "orientation": [ + 0.7068258628582635, + 0.7073875877923389, + 1.2003534102519245e-05, + 9.376677186930778e-06 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.27909711649301244, + 0.1551800322100829, + 0.7654657114158663 + ], + "orientation": [ + 0.004105132821298926, + -0.004169429806268129, + 0.7073746943297045, + 0.7068145482101849 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example36/input/input.png b/CommenSence/select_toy_common_sense/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e1acf6431e68159e72c08fa22e21da489acabe76 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1a5e3091222b8f209da869f1e9abbc2abd4eecb4402f2b259f8fa0d4637adf4 +size 921082 diff --git a/CommenSence/select_toy_common_sense/example36/input/input_mask.png b/CommenSence/select_toy_common_sense/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ec445ff65640be56c321a61ac610422f985830e4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a49dc841030029e1427389ba15306e1ad8121c8a213cb25e7664eba2c760b65 +size 808433 diff --git a/CommenSence/select_toy_common_sense/example36/input/instruction.txt b/CommenSence/select_toy_common_sense/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc53d9cbc97425d03407630e81567ab17c185800 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example36/input/instruction.txt @@ -0,0 +1 @@ + Locate the toy who is a frost giant adopted into an Asgardian family as per the Marvel storyline. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example36/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example36/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example37/env_config/env_config.json b/CommenSence/select_toy_common_sense/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf1b3ed8b5697e867cd670ab13534fb28d80a8e --- /dev/null +++ b/CommenSence/select_toy_common_sense/example37/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.958868620211213e-09, + -1.471962792848947e-10, + -7.726016531909476e-07 + ], + "orientation": [ + 1.0, + -1.2294636223229291e-09, + 1.1475503509095177e-09, + -3.448325941952316e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2250073259779001, + -0.030652908940449614, + 0.7709990873643657 + ], + "orientation": [ + 0.9987148415506474, + 0.0008154796259971563, + -0.00035729829448101334, + 0.05067418077654793 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.28780676885636464, + 0.14473169276928863, + 0.7657526276176977 + ], + "orientation": [ + 0.7067911364425135, + 0.7073544437061855, + 0.006904351822374826, + -0.006950564101391883 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.11391202272041408, + -0.13679066904594825, + 0.761215750460038 + ], + "orientation": [ + -0.002161345556583947, + 0.0023055808540755935, + 0.7071544416389857, + 0.7070520550515114 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.05928511773113913, + 0.16063418876402197, + 0.7656012262552224 + ], + "orientation": [ + 0.7068056553654685, + 0.70736746896513, + 0.005371605673649158, + -0.005308035959231787 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example37/input/input.png b/CommenSence/select_toy_common_sense/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5df327d15f2145f12456a5716eba42116de52c5a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fcfab9d6d1f3263d5e40e58b526efdd0fb6a0f56b5bdbe88adf39566dc4c2ef +size 910050 diff --git a/CommenSence/select_toy_common_sense/example37/input/input_mask.png b/CommenSence/select_toy_common_sense/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b48ab41443238a435c7d9aacaed590ef9db87370 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:747e1f57a529064e72227182e7187ceb926fc1da9d01a05a0cff56172c718e5c +size 776785 diff --git a/CommenSence/select_toy_common_sense/example37/input/instruction.txt b/CommenSence/select_toy_common_sense/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6dbe8cd4ed96fcf74d90b5b56ec1eabd5211016c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example37/input/instruction.txt @@ -0,0 +1 @@ + Locate the toy that features white and yellow shirt with cow print chaps. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example37/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example37/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example38/env_config/env_config.json b/CommenSence/select_toy_common_sense/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8639e534f257a9d3e6f201d3bbaf9b122b330b45 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example38/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.331389546564399e-09, + -4.480116383079718e-12, + -7.686164506507676e-07 + ], + "orientation": [ + 1.0, + 1.7048475947439788e-09, + -3.459663749048351e-09, + 3.463739377762399e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20057138403705205, + 0.1544370280557929, + 0.7709990937053331 + ], + "orientation": [ + 0.9981187335154552, + 0.0008192400716299848, + -0.00034860075974625307, + 0.06130416893425438 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.2792785424921468, + -0.1623486533643251, + 0.7649983752362806 + ], + "orientation": [ + 3.0119552837601294e-05, + 3.465035496132787e-05, + 0.7073883668121775, + 0.7068250818915282 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + 0.06355258360943189, + -0.16124818313692707, + 0.7649988406138714 + ], + "orientation": [ + 0.7068253874021697, + 0.7073880624332333, + -2.0631468102657367e-05, + -2.0617290773362158e-05 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + -0.09532182248614271, + 0.1426370608946542, + 0.7649985789372711 + ], + "orientation": [ + 0.7068253811949551, + 0.7073880688754102, + 1.4727236305069165e-05, + 1.7159003112777644e-05 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.08987376807390808, + -0.0583368351547797, + 0.7649968927694296 + ], + "orientation": [ + 0.7068255973277028, + 0.7073878532693915, + 6.385849493013093e-07, + 2.974808473796639e-06 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example38/input/input.png b/CommenSence/select_toy_common_sense/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7cc447a7a5455a8fd2055b8460220828ec99a7e8 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34dda53d645f887c4125803e574413c325491cfd86f9932b14610ba59485f18d +size 898059 diff --git a/CommenSence/select_toy_common_sense/example38/input/input_mask.png b/CommenSence/select_toy_common_sense/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9ee783c37940938e04efeb71f1326ae4a8f05085 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:011bd08eefe50f35bf9407d12ef4049ee49cf98617a86af9e7feec56a8b50837 +size 773278 diff --git a/CommenSence/select_toy_common_sense/example38/input/instruction.txt b/CommenSence/select_toy_common_sense/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8bba4a547251bb83cceb3c41cc249118646b1469 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example38/input/instruction.txt @@ -0,0 +1 @@ + Select a toy that is an extraterrestrial from the Toy Story franchise. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example38/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example38/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example39/env_config/env_config.json b/CommenSence/select_toy_common_sense/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7d346b59c3033f8c77c12dd50ab180f3b0122ed9 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example39/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8932202364112043e-08, + -1.9171295232431113e-10, + -7.70157512895894e-07 + ], + "orientation": [ + 1.0, + 1.346344748374205e-09, + -4.050551547167721e-09, + -6.682921908788789e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.2126681742047552, + -0.1491970091186967, + 0.770999091572175 + ], + "orientation": [ + 0.998515816064624, + 0.0007734650716012307, + -0.0004409416716706631, + -0.054455232907629256 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.26134078173831055, + 0.14869211969998927, + 0.7649983028979879 + ], + "orientation": [ + -1.2479917486533149e-05, + -9.068846790352841e-06, + 0.7073878878886098, + 0.7068255625191395 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + 0.06180141861952335, + 0.16506115331462823, + 0.7650392220888242 + ], + "orientation": [ + 0.0005897347339554909, + -0.0006300645560981957, + 0.7073876466568104, + 0.706825277270796 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.10205082498652548, + -0.1516553668908783, + 0.7649981927799668 + ], + "orientation": [ + -1.6138141325090482e-05, + -2.30791663127457e-05, + 0.70738827073456, + 0.7068251789757354 + ], + "class": "Toy" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2522366572070319, + -0.06412967838886857, + 0.7650630355966122 + ], + "orientation": [ + -0.001290704520274844, + 0.0012366252814835057, + 0.7073872483857963, + 0.7068239424785541 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example39/input/input.png b/CommenSence/select_toy_common_sense/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5038181c52d677b58a907aa03aee3fd728825ed3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202cfc8a8fde04c3e62b4258c8a5c5dec59b63203d6e82fca0ce0ab6aafbb3be +size 918619 diff --git a/CommenSence/select_toy_common_sense/example39/input/input_mask.png b/CommenSence/select_toy_common_sense/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33913aa79d25f025d9807f0da3e84be85637c080 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbe21561ba0b064f38a973effad0d1f65dcfab2cabfd083564850ce8f036ee14 +size 796480 diff --git a/CommenSence/select_toy_common_sense/example39/input/instruction.txt b/CommenSence/select_toy_common_sense/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..77812e2a6614f73bd15e3e67ba5b6751631bbfa6 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example39/input/instruction.txt @@ -0,0 +1 @@ + Identify the pet character from the Mickey series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example39/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example39/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example4/env_config/env_config.json b/CommenSence/select_toy_common_sense/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..36da81d47669a4c19da4f27d8ae7d7dedcb6c2c3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example4/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.634226897234312e-09, + 5.543171701568585e-11, + -7.601124424045337e-07 + ], + "orientation": [ + 1.0, + 1.752089214730929e-10, + 4.861461648702504e-10, + -6.38907864856527e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.12305282812209543, + 0.13360339981424832, + 0.7709991004613368 + ], + "orientation": [ + 0.9998895586609826, + 0.0008021465557605732, + -0.00038630645743173084, + 0.014835019682108838 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.2268023684021765, + -0.1690815043448538, + 0.768319371755786 + ], + "orientation": [ + 0.7062087124044012, + 0.7067628138492819, + -0.02962230047518397, + 0.0296327318774457 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.24905988049923938, + -0.149021987309744, + 0.7653112897791938 + ], + "orientation": [ + 0.706820210259626, + 0.7073810582876986, + 0.002905747588226235, + -0.0029640133715169254 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + 0.20763118051413834, + 0.14276362148230898, + 0.7651843127781979 + ], + "orientation": [ + 0.7068232499240116, + 0.7073854387483741, + 0.0018349389305800407, + -0.0018350511572775613 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example4/input/input.png b/CommenSence/select_toy_common_sense/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6cdeb4e7e26e7cea12700a0d0349cbc6617fa278 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef92aec6b7ec38922d94180d95724f5493f1555ad11053f82b0637f349a91502 +size 910344 diff --git a/CommenSence/select_toy_common_sense/example4/input/input_mask.png b/CommenSence/select_toy_common_sense/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..555a2caf3fcd27359cbe04009841240a70c6f143 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6e699e2c7f7338e3dd32dd3cc39c726b2a38d8d2fa06d9ed3517bd2d75f127f +size 791013 diff --git a/CommenSence/select_toy_common_sense/example4/input/instruction.txt b/CommenSence/select_toy_common_sense/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b5f80b3e7ceb058bdc093d62e54107976cd7f88f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example4/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the Toy Story series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example4/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example4/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example40/env_config/env_config.json b/CommenSence/select_toy_common_sense/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d05b91a4a44094b0fde85e97b207b5a36219eb4a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example40/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.147247423209632e-09, + 2.4166165790820403e-10, + -7.712727456015193e-07 + ], + "orientation": [ + 1.0, + -3.035717563072772e-10, + -6.426039930227256e-09, + -4.264275434914035e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2128368079130966, + -0.15233392531685783, + 0.7709990919625025 + ], + "orientation": [ + 0.9998253412517553, + 0.0008036209694379339, + -0.0003832354819194675, + 0.018668002429672398 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.2795518662393939, + 0.16436860512436255, + 0.7649981700639413 + ], + "orientation": [ + 0.7068249449879613, + 0.7073885021932304, + 4.2734302979784065e-05, + 4.7763625653092014e-05 + ], + "class": "Toy" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.05932416687923995, + 0.16978728874467702, + 0.7649985301782727 + ], + "orientation": [ + -3.654635253124743e-05, + -3.8104999512196194e-05, + 0.707388110799257, + 0.7068253376275017 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.09155382966038904, + -0.13939928909851568, + 0.7654419659746322 + ], + "orientation": [ + 0.7068147814216439, + 0.7073767902659992, + -0.003930030874318401, + 0.00393652310728582 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example40/input/input.png b/CommenSence/select_toy_common_sense/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f998446d95ecad698fa3843c44291e0c2a62f7cd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e102d6e2632046d0c805f139bdbe18ea4bdc13c7100b9f3717c41c67b2ca278 +size 895900 diff --git a/CommenSence/select_toy_common_sense/example40/input/input_mask.png b/CommenSence/select_toy_common_sense/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..35f066a9aa9085addb4bce51c8b575e0665d9076 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9f19d1324073976f1547fd93c3cdf1343366a7188fecbd1e24a548e1524e55e +size 779862 diff --git a/CommenSence/select_toy_common_sense/example40/input/instruction.txt b/CommenSence/select_toy_common_sense/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..92be2c86f66c7a4173080fa9585145df8c715232 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example40/input/instruction.txt @@ -0,0 +1 @@ + Identify a toy that speaks with the catchphrase "Oooh." Place it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example40/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example40/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example41/env_config/env_config.json b/CommenSence/select_toy_common_sense/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..67b2359d8d60ae393e5465d250e4a0a1c5ec174f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example41/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.5263994469333642e-08, + 2.4722537006453646e-10, + -7.700043441240757e-07 + ], + "orientation": [ + 1.0, + -1.0104673053322785e-09, + -5.171362172791068e-09, + -1.0391247359959285e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.05168704720024538, + -0.1482852690593242, + 0.7709990912372635 + ], + "orientation": [ + 0.9993487332523737, + 0.0007814448051562737, + -0.0004266368756948646, + -0.0360737670873117 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + -0.276051582001368, + 0.16534050898123767, + 0.764998285085142 + ], + "orientation": [ + 0.7068254736850221, + 0.7073879768067663, + 4.165168299295632e-06, + 1.3509106547091018e-06 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + 0.2052071129208204, + 0.14708302817652227, + 0.765132556250314 + ], + "orientation": [ + -0.0016003450698902511, + 0.0016425145695365044, + 0.7073847880484321, + 0.7068249448620376 + ], + "class": "Toy" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.28642449078454774, + -0.13806709666137107, + 0.7656560615228042 + ], + "orientation": [ + 0.7068000260511511, + 0.7073622739646696, + -0.005990475446141889, + 0.006037445614933459 + ], + "class": "Toy" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.09383933127803266, + -0.04510616362685539, + 0.764993208872445 + ], + "orientation": [ + 0.7068256573851184, + 0.7073877928904039, + -1.3286899645695347e-05, + 1.8846635782364495e-05 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example41/input/input.png b/CommenSence/select_toy_common_sense/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..db1ebd1e73e75ad7fe800e9f832f2f1ad9a3464b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b3d75f3275419a5dde71838cfd952cf42fa84709e98d70904d8103b92c47771 +size 926862 diff --git a/CommenSence/select_toy_common_sense/example41/input/input_mask.png b/CommenSence/select_toy_common_sense/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..69d4a7c9e239067f262b9c19a4eccf915f2f081f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a6df57b524754f43084c244055a14874b20a68917d567a7330e55bb8f3bc118 +size 795461 diff --git a/CommenSence/select_toy_common_sense/example41/input/instruction.txt b/CommenSence/select_toy_common_sense/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..981cc088af189038f05aa83fd7e260b713b25281 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example41/input/instruction.txt @@ -0,0 +1 @@ + Select the action figure with the catchphrase "To infinity and beyond!" Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example41/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example41/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example42/env_config/env_config.json b/CommenSence/select_toy_common_sense/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e5c3e6b31fe6e9f48dbe7a7d1bcbd39408fcf4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example42/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.022383656575401e-08, + -1.2077009945013142e-10, + -7.762703048993712e-07 + ], + "orientation": [ + 1.0, + 5.549102808913227e-10, + -4.203901755151536e-09, + -4.009370429696603e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.06779502269450234, + 0.041070135275092665, + 0.7709990847524227 + ], + "orientation": [ + 0.9985678976521506, + 0.0007738894076540144, + -0.00044019531111089854, + -0.053491691895458174 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.2755578176537573, + -0.15479127396403733, + 0.7668432612662713 + ], + "orientation": [ + 0.01632726357575904, + -0.01638810359223738, + 0.7071976267037745, + 0.7066373661994718 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.271381365980271, + 0.1622499252909596, + 0.7678672279750368 + ], + "orientation": [ + 0.7063669226714706, + 0.7069265901071676, + 0.02552686765450598, + -0.02547441427862867 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_1/buzz_lightyear_toy_story_disney/buzz_lightyear_toy_story_disney.xml", + "position": [ + 0.2080102378389871, + -0.1476232669125692, + 0.7649986991576049 + ], + "orientation": [ + -2.6814943801184694e-05, + -2.8456712373764494e-05, + 0.7073873656910968, + 0.7068260842185888 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.11770131993689883, + -0.046037805956690984, + 0.7656215064408571 + ], + "orientation": [ + -0.005630898990352592, + 0.005580350155556559, + 0.7073657474129369, + 0.7068032626237938 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example42/input/input.png b/CommenSence/select_toy_common_sense/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..70385f929759882a600115d25aafe7d8dd6b1040 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1f93a4cfaa23113bcdcfa6e0b24b95f12fc28f86b7ed6122f0db384ecbab0e +size 932815 diff --git a/CommenSence/select_toy_common_sense/example42/input/input_mask.png b/CommenSence/select_toy_common_sense/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d8490bf45ca09f9fb8c096da332588b579c890dd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc20e6c0c6438c54a0b4a8e0ceb7d6b4a9aeffc708385f98e407848207c27e3 +size 807647 diff --git a/CommenSence/select_toy_common_sense/example42/input/instruction.txt b/CommenSence/select_toy_common_sense/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8dd2701bfccc9cbfd49d02677a4c5448d173d5af --- /dev/null +++ b/CommenSence/select_toy_common_sense/example42/input/instruction.txt @@ -0,0 +1 @@ + Select a toy from the Marvel series who is known for climbing walls. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example42/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example42/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example43/env_config/env_config.json b/CommenSence/select_toy_common_sense/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c31afdef17f8c80fd9937d1e97e519ce0fbeb467 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example43/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.968555175511251e-10, + 3.125199699685252e-10, + -7.691555870065874e-07 + ], + "orientation": [ + 1.0, + 2.1412779316783846e-09, + -1.6297264601534203e-10, + -1.181664947554925e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.07237640945300575, + 0.03618023997704913, + 0.7709990914303411 + ], + "orientation": [ + 0.9989400880965393, + 0.0008138094581372772, + -0.00036109511548655123, + 0.04602073139532913 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.27626140387992115, + -0.16826490629223698, + 0.7652024674055543 + ], + "orientation": [ + 0.0019373391508893788, + -0.0019408827447557546, + 0.7073848434762968, + 0.706823289734571 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2540472664353944, + 0.1685476190835134, + 0.7662216021369085 + ], + "orientation": [ + 0.011002927901110638, + -0.010942413319765025, + 0.7073029422665805, + 0.7067402259878663 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + 0.23338463829820613, + -0.14668317950518991, + 0.7609412577935405 + ], + "orientation": [ + -0.0005702763195834452, + 0.0006871991982973221, + 0.7070899816672449, + 0.7071230164320748 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example43/input/input.png b/CommenSence/select_toy_common_sense/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e706319af748b9c5ada0701153ca8260fb88c3a4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3b58f29a72c6cb0d8159ef4a5e3ee5fbb6097f724767a55274ea5e331a2e737 +size 941807 diff --git a/CommenSence/select_toy_common_sense/example43/input/input_mask.png b/CommenSence/select_toy_common_sense/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1763456b06520fc488698ce3091f00226901f374 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:59c6478cf21ccc44887cbf81fb0899e48b45c4afe8aaf4bd9544c15b92417965 +size 811963 diff --git a/CommenSence/select_toy_common_sense/example43/input/instruction.txt b/CommenSence/select_toy_common_sense/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3e96802999b2cb10b02aa108f6e9da6bbc252a60 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example43/input/instruction.txt @@ -0,0 +1 @@ + Locate a toy who is the brother of the main character in its series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example43/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example43/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example44/env_config/env_config.json b/CommenSence/select_toy_common_sense/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e5932c11dac05beff7d861cfcbe46cc192acc1b1 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example44/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.0973915074552388e-08, + 1.2611106665578979e-11, + -7.642904988336004e-07 + ], + "orientation": [ + 1.0, + -3.390170539405759e-10, + 1.2167165972134687e-09, + -9.101474547069977e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.2857922329128492, + -0.057513544815256765, + 0.7709990968513203 + ], + "orientation": [ + 0.9975350899968395, + 0.0008223011279338464, + -0.00034130845257460195, + 0.07016374814954117 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.23244099188658943, + 0.1568132559300815, + 0.764998265960852 + ], + "orientation": [ + 2.3279406436059425e-05, + 1.630950414338684e-05, + 0.7073878876473213, + 0.706825562357453 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_0/disneys_minnie_mouse_-_classic.xml", + "position": [ + 0.05927590387652543, + -0.13339795470718355, + 0.7649965436834435 + ], + "orientation": [ + 0.7068251948546326, + 0.707388255299458, + 9.668359727695927e-06, + 9.466928313918529e-06 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + -0.11174928389775311, + 0.16076395308538083, + 0.7654430884504198 + ], + "orientation": [ + -0.0038615639806833984, + 0.004005138080362388, + 0.7073775929014001, + 0.7068139700470003 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example44/input/input.png b/CommenSence/select_toy_common_sense/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f9ed2d940da6b3b80555bfade114796ca52dd42e --- /dev/null +++ b/CommenSence/select_toy_common_sense/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9be124a433dcdbe7056e9dfc57440e7ca52b0149751092e9b0e88eb70cacd1c9 +size 933761 diff --git a/CommenSence/select_toy_common_sense/example44/input/input_mask.png b/CommenSence/select_toy_common_sense/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..50e5e9bbe8046264d4a1e1f00d38e0eba80c2070 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25faf5eeb4d2fce0b4129a4d31677bf18086df7171898975ab044f51b13e0f4 +size 816218 diff --git a/CommenSence/select_toy_common_sense/example44/input/instruction.txt b/CommenSence/select_toy_common_sense/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c54b1490c538e89f2fba08e478fb16371ab72806 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example44/input/instruction.txt @@ -0,0 +1 @@ + Select the character who is a navigator from the One Piece series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example44/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example44/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example45/env_config/env_config.json b/CommenSence/select_toy_common_sense/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0e34af6edc7c961a1799dc96d985052c3d5edfeb --- /dev/null +++ b/CommenSence/select_toy_common_sense/example45/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.02047112080237e-09, + 3.427831988547872e-11, + -7.620750388467363e-07 + ], + "orientation": [ + 1.0, + -8.790066141232087e-10, + -1.807606597676607e-09, + 8.918744647315096e-11 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.042686119108794156, + -0.04436136527856865, + 0.7709990985646016 + ], + "orientation": [ + 0.9986349311536463, + 0.0007744454586565259, + -0.000439211218598434, + -0.05222529662423264 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2591080624815029, + 0.16097166407615437, + 0.7659813626084515 + ], + "orientation": [ + 0.7067648507839471, + 0.7073277111704116, + 0.00920445514602234, + -0.00928615702196324 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + -0.25312118005291806, + -0.16841045154447595, + 0.7649988534047606 + ], + "orientation": [ + 0.7068255714918418, + 0.7073878790191789, + -7.177905632546748e-06, + -7.103247873147173e-06 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + 0.23514275884579805, + 0.16012737109890715, + 0.7652232003363446 + ], + "orientation": [ + 0.002024323867921088, + -0.0019617772039247534, + 0.7073850735031736, + 0.7068227580716313 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example45/input/input.png b/CommenSence/select_toy_common_sense/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7435680dc19f874be74470211040042087a817cd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22c654d97cb2a7798e61548562e78dc6e1708862c5bb54b621009b33129f24bc +size 887877 diff --git a/CommenSence/select_toy_common_sense/example45/input/input_mask.png b/CommenSence/select_toy_common_sense/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1a287de487c7753c739916465b9a826930475f01 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:687e00f08c9a0e6448a9be60d1900fdcf05d92e54dc3dbe3713ec13474d18a0a +size 775129 diff --git a/CommenSence/select_toy_common_sense/example45/input/instruction.txt b/CommenSence/select_toy_common_sense/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c4dcbb991bc39e48a3558fa01ad3e021241845f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example45/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the DC Comics series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example45/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example45/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example46/env_config/env_config.json b/CommenSence/select_toy_common_sense/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f3b8929b7069bcb7745f6f0fec3f89aae6826ed5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example46/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.1611556912844564e-08, + 1.2185451761918613e-08, + -7.716869325113596e-07 + ], + "orientation": [ + 1.0, + 2.2431469674213397e-09, + -6.449897070410059e-10, + -8.137471198174569e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.2880831167193747, + 0.057550326012978145, + 0.770999088606706 + ], + "orientation": [ + 0.9971449392856929, + 0.0008241200300648228, + -0.00033690086505188966, + 0.07550614134568989 + ], + "class": "CommonContainer" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + 0.22536643667394593, + -0.13044766894001358, + 0.765366719004069 + ], + "orientation": [ + 0.7054990891017956, + 0.7086998994095789, + -0.00035825386643112986, + 0.003919120763082751 + ], + "class": "Toy" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + 0.05262568796255089, + 0.1503232698828165, + 0.765147973439118 + ], + "orientation": [ + 0.7068233142495787, + 0.7073862262126706, + 0.0016944931747648155, + -0.0016303652106050268 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + -0.12546286928214073, + -0.15972588974892912, + 0.7649977977690756 + ], + "orientation": [ + 0.7068261756508833, + 0.7073872752632728, + 1.2317642391762837e-05, + 7.656690071045571e-06 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.05548873785009121, + -0.05190156615735462, + 0.761269624474125 + ], + "orientation": [ + -0.006074461737834392, + 0.005362142174628894, + 0.7105585742954001, + 0.7035914019096464 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "batman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example46/input/input.png b/CommenSence/select_toy_common_sense/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1d7d4af87f72c17aebb1925024228f4067e60126 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c65dfe3541cc457727cefd14717964e763809029b5133676db04ef778e0d7c +size 899418 diff --git a/CommenSence/select_toy_common_sense/example46/input/input_mask.png b/CommenSence/select_toy_common_sense/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c849ab3de7e3e9ca14e402d20c49b51a43853d05 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9f161e8570fdf8962e15d1b8e7f87d4a3cd1813bd8337bb96b0517a973a5efe +size 772052 diff --git a/CommenSence/select_toy_common_sense/example46/input/instruction.txt b/CommenSence/select_toy_common_sense/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d11dae2ab4581b47a60997315969fc8c662d026 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example46/input/instruction.txt @@ -0,0 +1 @@ + Identify a toy known for its black cape and bat emblem. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example46/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example46/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example47/env_config/env_config.json b/CommenSence/select_toy_common_sense/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e274aa10957c6852e3f38b0a712008162355f533 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example47/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.756238296088638e-09, + 6.79883175354409e-10, + -7.666322670807165e-07 + ], + "orientation": [ + 1.0, + -7.599711612244426e-10, + 1.3823630816344053e-09, + 2.6135919877325224e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.2167297234439712, + -0.15198368927698852, + 0.7709990934071317 + ], + "orientation": [ + 0.9980456643234131, + 0.000769892105809727, + -0.00044714148084129226, + -0.06248247158906773 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.2825313787292102, + 0.16752250734818547, + 0.7649953101661585 + ], + "orientation": [ + 0.7068256202761077, + 0.707387830214626, + -4.054574926570115e-06, + -1.3003848431193049e-05 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + 0.05711758325138236, + 0.16894803572774922, + 0.7655428235831163 + ], + "orientation": [ + -0.00483374628977768, + 0.004811158379371916, + 0.7073715759267434, + 0.7068089849618284 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.10039180509750832, + -0.16962097099688836, + 0.7711560863022122 + ], + "orientation": [ + 0.02223421191083329, + -0.02087490686851208, + 0.7046829190436006, + 0.708866603594869 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example47/input/input.png b/CommenSence/select_toy_common_sense/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..189de732d82f920432e4ab208c9f4508e67a92a0 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f2bc2402b120897e0e3a8cbc6d9487ebe17b2115d5a12ecc34f88709d14b2ecc +size 930083 diff --git a/CommenSence/select_toy_common_sense/example47/input/input_mask.png b/CommenSence/select_toy_common_sense/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ac8156bfa022dd0a3648c8de501de18ee1d39f95 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c599668905c58fc2d81c775963c71067a77b90ae278d55c7033bd50577ff71f0 +size 818726 diff --git a/CommenSence/select_toy_common_sense/example47/input/instruction.txt b/CommenSence/select_toy_common_sense/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..85e9b1bfb662d43882d72ff83477afde374d2ced --- /dev/null +++ b/CommenSence/select_toy_common_sense/example47/input/instruction.txt @@ -0,0 +1 @@ + Select a toy from the One Piece series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example47/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example47/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example48/env_config/env_config.json b/CommenSence/select_toy_common_sense/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..96acc9bb6cfcc982f7b8ce0882a8140d6825ed71 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example48/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2849960572512037e-08, + 2.1104144021808204e-09, + -7.697936545657448e-07 + ], + "orientation": [ + 1.0, + 2.556161566352505e-09, + -1.6856550610890284e-09, + 3.82072689477483e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.22238463262064617, + 0.06605835291484637, + 0.7709990917016785 + ], + "orientation": [ + 0.9998985841538004, + 0.0007905899778520237, + -0.00040944445708731685, + -0.01421368108364977 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.27895253330397773, + -0.1628097451508993, + 0.7650942850073801 + ], + "orientation": [ + 0.0011530404054881447, + -0.0011006523445098828, + 0.707386774799185, + 0.7068248792320818 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_1/wii_-_toy_story_3_-_slinky_dog.xml", + "position": [ + -0.08991308223758437, + 0.1656904425028978, + 0.7622164596265791 + ], + "orientation": [ + -0.00978779795823823, + 0.014259037647558738, + 0.7064419584279582, + 0.7075596358109794 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + 0.04575783414132775, + -0.14325228864698727, + 0.7659452609563883 + ], + "orientation": [ + 0.008560453894466904, + -0.008518746769366599, + 0.7073364123816356, + 0.7067739025329647 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example48/input/input.png b/CommenSence/select_toy_common_sense/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..e977062ee6f4a99782ee0310ccc1243e6575d261 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:477633b6d07cd26896df040eacbc519a5db2cafcb4b6eb704928cedec28971d2 +size 909033 diff --git a/CommenSence/select_toy_common_sense/example48/input/input_mask.png b/CommenSence/select_toy_common_sense/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..64131529741524407bfa7908a1ed531e87009a19 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d8fc3f46d9e45b84f7083476a914550e68a1cc19cfe51099fa84f20903b8033 +size 793528 diff --git a/CommenSence/select_toy_common_sense/example48/input/instruction.txt b/CommenSence/select_toy_common_sense/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..975aae1a49b2495aa191cff829dde5a8f6ce350b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example48/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the Marvel universe. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example48/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example48/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example49/env_config/env_config.json b/CommenSence/select_toy_common_sense/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0db1fa47e7d60dcb80b7e0c906404078ad568a11 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example49/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5622538797351942e-08, + -9.838581536434143e-09, + -7.75716423803713e-07 + ], + "orientation": [ + 1.0, + 1.1704377503998507e-09, + -7.086940723638363e-09, + 1.874269427411318e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.04088679246912281, + -0.14755375662788012, + 0.7709990849247681 + ], + "orientation": [ + 0.9996188321120448, + 0.0008070117107669653, + -0.0003760463834295253, + 0.027593437773624347 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.2580763724438742, + 0.14550985441259418, + 0.765928615900933 + ], + "orientation": [ + 0.008212846197418869, + -0.008271470230731234, + 0.7073388935908901, + 0.7067784812451323 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + 0.21565778828315196, + 0.14270270485414946, + 0.7655385854874545 + ], + "orientation": [ + 0.0007943654686516442, + -0.00014826421466308142, + 0.7030487916625582, + 0.7111411558495564 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.27479302175269893, + -0.14227328517334448, + 0.7617741112344303 + ], + "orientation": [ + 0.7070334231628954, + 0.7071517277705794, + -0.004107590533855294, + 0.00482702202696905 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "luffy" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example49/input/input.png b/CommenSence/select_toy_common_sense/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ce811e5e237d9847d14b558f55a6a9914161bb9b --- /dev/null +++ b/CommenSence/select_toy_common_sense/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:719db699b498c271172691302cf5a97fa4aad0b7aa4e9fc981f521a5569991e0 +size 916326 diff --git a/CommenSence/select_toy_common_sense/example49/input/input_mask.png b/CommenSence/select_toy_common_sense/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..51cfc54d1e702e66a2d21232f9c337484eaa7fa2 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4db52f6ba0eb358308a24a9707a6367b7b27885c951f2991b6640fe15bfb89d +size 796462 diff --git a/CommenSence/select_toy_common_sense/example49/input/instruction.txt b/CommenSence/select_toy_common_sense/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1b94b01d34c1396bc6c70b34eae38e37759909d --- /dev/null +++ b/CommenSence/select_toy_common_sense/example49/input/instruction.txt @@ -0,0 +1 @@ + Pick the toy known for stretching abilities. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example49/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example49/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example5/env_config/env_config.json b/CommenSence/select_toy_common_sense/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..db39bbf2fa14944ccc0b2a8993d42fe1469eaca7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example5/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.4696840965294064e-08, + 1.3916165644408026e-09, + -7.802907754953852e-07 + ], + "orientation": [ + 1.0, + 1.8739842371580526e-10, + -6.8733458697032635e-09, + 1.8197831387371039e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.23358510921160583, + -0.06505470032163424, + 0.7709990833031752 + ], + "orientation": [ + 0.9990533877023438, + 0.0007782573285901167, + -0.00043242810946234533, + -0.043491790511890116 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_0/spiderman_aracnido.xml", + "position": [ + -0.28176837321190334, + 0.14937897663083685, + 0.7654572885687414 + ], + "orientation": [ + 0.004186907132888716, + -0.004113844551142853, + 0.7073788357444201, + 0.7068102495242539 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.10297220450254918, + -0.16574647822185246, + 0.7649958223610237 + ], + "orientation": [ + -0.010710481873157922, + -0.010715861721477518, + 0.7073071682610202, + 0.7067439604355931 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.05339397539457578, + 0.14599636240142844, + 0.7656139558449787 + ], + "orientation": [ + 0.7068013598940462, + 0.7073602036196796, + 0.0060347315515181165, + -0.006079638324159201 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + -0.2724982815197146, + -0.047359936065413215, + 0.7649980838556807 + ], + "orientation": [ + 8.9938158011884e-06, + 3.4181795249527884e-06, + 0.707387265646077, + 0.7068261853590273 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "spiderman" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example5/input/input.png b/CommenSence/select_toy_common_sense/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..37d9f27c3c92c736e3801222492fbb547be4f0d3 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cd47805215d5ddd279c150b007593ea90ae24073c6d53b3efce3d2b45711fea +size 913272 diff --git a/CommenSence/select_toy_common_sense/example5/input/input_mask.png b/CommenSence/select_toy_common_sense/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6dd82a706849746976770f93b89ed648c2a24bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cd75c07a8a81ac75a70297f67f5ce9e8fd77849f43c60abfa7314a06d30995d +size 797039 diff --git a/CommenSence/select_toy_common_sense/example5/input/instruction.txt b/CommenSence/select_toy_common_sense/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0bc8326b1b7428d2ceb37fafc2f270d2783511e1 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example5/input/instruction.txt @@ -0,0 +1 @@ + Pick the superhero with a red and blue suit. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example5/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example5/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example50/env_config/env_config.json b/CommenSence/select_toy_common_sense/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0a621c8b0bea00ef9f28bb1d74a546ceca9bc0aa --- /dev/null +++ b/CommenSence/select_toy_common_sense/example50/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.045166711893664e-09, + -7.666571591237285e-10, + -7.659987717764634e-07 + ], + "orientation": [ + 1.0, + 3.175237800388489e-10, + -4.0969350366572154e-09, + -1.1848722577632006e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.038870884471062774, + 0.05949236116894283, + 0.7709990947649337 + ], + "orientation": [ + 0.9993167992153614, + 0.0007810726461362276, + -0.000427319078249156, + -0.03694782984009648 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.2639398133972292, + -0.16021027421765466, + 0.7651596646411575 + ], + "orientation": [ + 0.0014413764607838957, + -0.0014971966705327488, + 0.7073863154069822, + 0.7068240810915835 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.276111715053783, + 0.16582612253796714, + 0.7656677282584216 + ], + "orientation": [ + 0.7068002943196636, + 0.707362818246666, + -0.00594998458125771, + 0.005982056105882061 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + 0.2345565935100048, + -0.13142231780035551, + 0.7617584783426725 + ], + "orientation": [ + 0.7072411559068431, + 0.7069500089180343, + 0.0039850414884543455, + -0.003968844501695575 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.1014507976703233, + -0.05539707952889723, + 0.7712169106941575 + ], + "orientation": [ + 0.7089972421855856, + 0.7042474082794861, + 0.025971601212315072, + -0.02615290491187391 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example50/input/input.png b/CommenSence/select_toy_common_sense/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..29af655d1394e24d8a5eace9ff819d9b65462b89 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9c3c8bc9adaab8a60341af1e8f0b8268628c86ff4400dde9311d885daf7579e +size 906802 diff --git a/CommenSence/select_toy_common_sense/example50/input/input_mask.png b/CommenSence/select_toy_common_sense/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f2018b46889e176117ab922244be51f3103c2999 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dc4be2de842a3dbe2ae26b40c6d1912a215df1bf9166499444f7b02c3a980ac +size 778360 diff --git a/CommenSence/select_toy_common_sense/example50/input/instruction.txt b/CommenSence/select_toy_common_sense/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1fe3cc9af6114b900d554d44e414b5be80cc330 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example50/input/instruction.txt @@ -0,0 +1 @@ + Identify a toy representing a character skilled in cartography and meteorology. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example50/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example50/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example51/env_config/env_config.json b/CommenSence/select_toy_common_sense/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..80fac03a4805600a7e7699a614fafa64940b9971 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example51/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.2365789305342826e-08, + -5.4152807069180475e-09, + -7.704304426405613e-07 + ], + "orientation": [ + 1.0, + 2.5281025520149846e-09, + -1.729710112071563e-09, + 4.12855708882093e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.1025369599840504, + -0.04976846861721823, + 0.7709990893704338 + ], + "orientation": [ + 0.9999791951631821, + 0.0007988572796300122, + -0.00039307034672438355, + 0.006388784199228009 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.2111014284475557, + 0.15272765716446507, + 0.7649988645369035 + ], + "orientation": [ + 4.290925886290248e-06, + 4.163623583999411e-06, + 0.7073884409764643, + 0.706825009133901 + ], + "class": "Toy" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + 0.20293517891379478, + -0.13622022425820982, + 0.7658279116842673 + ], + "orientation": [ + 0.7067860346536546, + 0.7073466868360017, + -0.007535604900171942, + 0.00757499171495204 + ], + "class": "Toy" + }, + { + "name": "vision", + "xml_path": "obj/meshes/toys/marvel/vision/vision_0/vision_texturedrigged.xml", + "position": [ + -0.2645321941923691, + 0.15895198893306325, + 0.7651912632163396 + ], + "orientation": [ + 0.7068228337386406, + 0.7073856616884348, + -0.0018871980850453099, + 0.0018562938026118398 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.27593690851392016, + -0.1563285343942702, + 0.765712417091872 + ], + "orientation": [ + 0.004297236664562606, + -0.004275619890221203, + 0.7052242027023015, + 0.7089584450124758 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example51/input/input.png b/CommenSence/select_toy_common_sense/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..15a947b2804789749b29d0f5a52d4cb069fc788e --- /dev/null +++ b/CommenSence/select_toy_common_sense/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56a4b19565a8af9434938a61aabf09b1ad08431cd30e51c53db98faaf0a94dac +size 927723 diff --git a/CommenSence/select_toy_common_sense/example51/input/input_mask.png b/CommenSence/select_toy_common_sense/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c0cf5fe51cf116a009ff630514e0b57cdcc8fe6c --- /dev/null +++ b/CommenSence/select_toy_common_sense/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42348b3d54d4e3dfef5e1cb09bf13f0dcfbf99fae052ea25df7c97fe23398cff +size 799293 diff --git a/CommenSence/select_toy_common_sense/example51/input/instruction.txt b/CommenSence/select_toy_common_sense/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f8c671f2206da6122e7924f9be1037131d35ec4 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example51/input/instruction.txt @@ -0,0 +1 @@ + Pick a toy that uses a weapon called the Clima-Tact in its series. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example51/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example51/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example52/env_config/env_config.json b/CommenSence/select_toy_common_sense/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b2feb70e169a0fe92683b28e99470300ec635bb7 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example52/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.6090523589522523e-09, + -5.468919588057756e-09, + -7.646799855275382e-07 + ], + "orientation": [ + 1.0, + 4.075548619947547e-09, + -6.286150486610016e-10, + -2.2835456437882738e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.2137184606914637, + 0.05373696064591707, + 0.770999096434434 + ], + "orientation": [ + 0.9986393345925828, + 0.0007744874047848632, + -0.00043914442812690967, + -0.05214102728095336 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.25012145491641913, + -0.1498511367935463, + 0.7717493047214571 + ], + "orientation": [ + 0.059424407213216936, + -0.05782044660950006, + 0.7028980516737248, + 0.7064416923812729 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + -0.1079933797315953, + 0.152206320915625, + 0.7612770621647736 + ], + "orientation": [ + -0.015757299338958315, + -0.004089574592272897, + 0.7104854639016124, + 0.703523552186923 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.04800901474420555, + -0.15509257845309377, + 0.7662334651735941 + ], + "orientation": [ + -0.005239459495212802, + 0.00772943551998536, + 0.7024912851933852, + 0.7116310828779794 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example52/input/input.png b/CommenSence/select_toy_common_sense/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c3ac5841db3ec57b69a7de6092b7ea35b6544c39 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69ffc601886a1949b33a30832f1fd4e54efd0a26420f94a7fde1d307d8a8aef5 +size 897252 diff --git a/CommenSence/select_toy_common_sense/example52/input/input_mask.png b/CommenSence/select_toy_common_sense/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..baf567a35b619f9035c1825adb532eddf33093d0 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8c694c163e7e1dac5bf4690a02334899631514cfc895c176cdf3cd5ac69bcf9 +size 777608 diff --git a/CommenSence/select_toy_common_sense/example52/input/instruction.txt b/CommenSence/select_toy_common_sense/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..45bd38a32b2ee7b28b73338f85db7f3e7aa54a5f --- /dev/null +++ b/CommenSence/select_toy_common_sense/example52/input/instruction.txt @@ -0,0 +1 @@ + Choose a toy from the Marvel series that is known for their mischievous behavior. Please put it into the box.' \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example52/output/operation_sequence.json b/CommenSence/select_toy_common_sense/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/CommenSence/select_toy_common_sense/example52/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example53/env_config/env_config.json b/CommenSence/select_toy_common_sense/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..44fa6fc455bea7cb56749ddad955339ef56aaeea --- /dev/null +++ b/CommenSence/select_toy_common_sense/example53/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.5361122883557336e-08, + 1.2726150056674235e-10, + -7.680223366515854e-07 + ], + "orientation": [ + 1.0, + -1.5794652735022068e-09, + -2.6209614368960658e-09, + -4.713088395456466e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.06819099748682081, + -0.06584535664095864, + 0.7709990929520316 + ], + "orientation": [ + 0.9999961613768608, + 0.0007952781895719456, + -0.0004002549883819649, + -0.0026238445246082693 + ], + "class": "CommonContainer" + }, + { + "name": "buzz_lightyear", + "xml_path": "obj/meshes/toys/disney/toystory/buzz_lightyear/buzz_lightyear_0/buzz_lightyear_toy_story.xml", + "position": [ + -0.2512756125303959, + 0.1622162403235871, + 0.76514142800802 + ], + "orientation": [ + 0.7068252800665319, + 0.7073858900189612, + 0.0012926896193568877, + -0.0012470022047488402 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.28173337921831854, + -0.1317796563064041, + 0.7650324886762727 + ], + "orientation": [ + 0.7068249180735777, + 0.7073873844394722, + 0.0008655077742516739, + -0.0009351055849360754 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + 0.21323734612955175, + 0.13095147114600655, + 0.7657485412703777 + ], + "orientation": [ + 0.0066907092846206885, + -0.006655913224171111, + 0.7073571923091688, + 0.706793276507998 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + -1.5, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "buzz_lightyear" + ] + } + } + } +} \ No newline at end of file diff --git a/CommenSence/select_toy_common_sense/example53/input/input.png b/CommenSence/select_toy_common_sense/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..de879c9532c03fe2f489bc0b33fcb070692a95b5 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5224dff934bc05704dc964d82e134b620601961d6a25ef1e4fcc219b8f3a007 +size 871307 diff --git a/CommenSence/select_toy_common_sense/example53/input/input_mask.png b/CommenSence/select_toy_common_sense/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..239e92fdc96314f47788f35203306b20486eae8a --- /dev/null +++ b/CommenSence/select_toy_common_sense/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47df1e29cebb29d290ca924e4def85bcffa7ec44eb4906f3ab71c2c7fecd8b5e +size 759516 diff --git a/CommenSence/select_toy_common_sense/example53/input/instruction.txt b/CommenSence/select_toy_common_sense/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b9afc8a3c0b30e71d9fb8fc067499745aac5a2b9 --- /dev/null +++ b/CommenSence/select_toy_common_sense/example53/input/instruction.txt @@ -0,0 +1 @@ + Identify a toy with a space suit. Please put it into the box.' \ No newline at end of file