diff --git a/Semantic/select_toy_semantic/example71/input/instruction.txt b/Semantic/select_toy_semantic/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3ae6a266a088fe5c68d9a82b1faef16399b6bde2 --- /dev/null +++ b/Semantic/select_toy_semantic/example71/input/instruction.txt @@ -0,0 +1 @@ + Im thinking of hosting a retro-themed movie night. Could you grab something that reminds us of old-school animation? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example71/output/operation_sequence.json b/Semantic/select_toy_semantic/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example71/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example72/env_config/env_config.json b/Semantic/select_toy_semantic/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ab9aa270a72eb94ec100e8c99d2f8436c24edd26 --- /dev/null +++ b/Semantic/select_toy_semantic/example72/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0923914451780609e-07, + 5.826904128279084e-08, + -7.925189152531934e-07 + ], + "orientation": [ + 0.9999999999999992, + -4.809373715316906e-09, + -1.9308744455396897e-09, + -2.4690018388191038e-08 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.04696281069495565, + 0.03021773647171262, + 0.7709990677789386 + ], + "orientation": [ + 0.9999533821712966, + 0.0007924574298877531, + -0.0004058042465513976, + -0.00961461482950543 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2780935816743645, + -0.14341747811542774, + 0.7662285986477149 + ], + "orientation": [ + 0.706740308444567, + 0.7073027748712019, + 0.01094793257793101, + -0.011002901955655465 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.25016378441861425, + 0.15371625527071564, + 0.7667888555703005 + ], + "orientation": [ + -0.0008538472627266131, + -0.00019303285826390286, + 0.6916575433002107, + 0.7222250871294099 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + 0.21338320344606757, + -0.1563105205600592, + 0.7651371860504648 + ], + "orientation": [ + -0.001326896046037735, + 0.0012684634586959899, + 0.7073866533349809, + 0.7068244145690449 + ], + "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/Semantic/select_toy_semantic/example72/input/input.png b/Semantic/select_toy_semantic/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..be702438dc43a66880c5c87681f412c6027ba987 --- /dev/null +++ b/Semantic/select_toy_semantic/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9abc601c56f3168109548b1c73f5878fb1554146fc29fc8c53c3b0a6709f615a +size 908811 diff --git a/Semantic/select_toy_semantic/example72/input/input_mask.png b/Semantic/select_toy_semantic/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..13c249756a5150f5fe0d16851e325a7729dff045 --- /dev/null +++ b/Semantic/select_toy_semantic/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a39062bab34da6d58be509f62fc9fe434ad7fa15a9b6ff4bd88d550af5f4ddc9 +size 788261 diff --git a/Semantic/select_toy_semantic/example72/input/instruction.txt b/Semantic/select_toy_semantic/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b695f71a6f722afd63540bfe9b12a27504ea4776 --- /dev/null +++ b/Semantic/select_toy_semantic/example72/input/instruction.txt @@ -0,0 +1 @@ + My friend loves card games, especially those involving a bit of bravery. Could you find something relevant for his collection? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example72/output/operation_sequence.json b/Semantic/select_toy_semantic/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example72/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example73/env_config/env_config.json b/Semantic/select_toy_semantic/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..538ff5433541c5a78918e9850ec21c7e51506c6e --- /dev/null +++ b/Semantic/select_toy_semantic/example73/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.295410458272043e-08, + 2.338994757985307e-09, + -8.048385215803638e-07 + ], + "orientation": [ + 1.0, + 9.755127944065613e-09, + -2.316790212030865e-08, + 1.058351540439714e-08 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.05859949306874607, + -0.16830382440725664, + 0.7709990549997544 + ], + "orientation": [ + 0.9975995544960452, + 0.0008219934969032995, + -0.00034209384549186794, + 0.06924114504963308 + ], + "class": "CommonContainer" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.2869999920995225, + 0.13716258780248258, + 0.7649974620787573 + ], + "orientation": [ + 0.7068254356264444, + 0.7073880127796791, + 5.189099884121361e-05, + 1.531101664527104e-05 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.23811740679492635, + 0.1510073041114417, + 0.7660942216595383 + ], + "orientation": [ + 0.7067603323200171, + 0.7073199561739606, + 0.009686392977809986, + -0.009720393409959907 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.2609793440415087, + -0.1402446250627423, + 0.7657564634066182 + ], + "orientation": [ + 0.007153334594161396, + -0.006312995118261356, + 0.7073554011942721, + 0.7067936843931971 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_1/one_piece_pirate_warriors__tony_tony_chopper.xml", + "position": [ + -0.12106258845720017, + -0.03527414034500523, + 0.7649986794797585 + ], + "orientation": [ + 1.1689733421658301e-05, + 1.311337516595024e-05, + 0.7073877639372235, + 0.7068256865191614 + ], + "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/Semantic/select_toy_semantic/example73/input/input.png b/Semantic/select_toy_semantic/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..38a8c8771b6dbd518d91a3db2c728d32db2b857d --- /dev/null +++ b/Semantic/select_toy_semantic/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5ac340b41093d813a3c4695721291594866d1f81a4f7c651150be9c8a4fb31a +size 921683 diff --git a/Semantic/select_toy_semantic/example73/input/input_mask.png b/Semantic/select_toy_semantic/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..55f850ca0e75ab3ac1a7f5ff1e0c6138df9bd6f2 --- /dev/null +++ b/Semantic/select_toy_semantic/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfd71f063c427c3287c6251e1e88243f380989e74981e3f63fc230da5e452cb9 +size 795576 diff --git a/Semantic/select_toy_semantic/example73/input/instruction.txt b/Semantic/select_toy_semantic/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7170f0443cffdf1b1f20121458de13769925fed4 --- /dev/null +++ b/Semantic/select_toy_semantic/example73/input/instruction.txt @@ -0,0 +1 @@ + My son is fascinated by ocean-themed superheroes. Can you find a related toy for his collection? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example73/output/operation_sequence.json b/Semantic/select_toy_semantic/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example73/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example74/env_config/env_config.json b/Semantic/select_toy_semantic/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d75086b671353529ea1d9fabc8f2957c52d1c236 --- /dev/null +++ b/Semantic/select_toy_semantic/example74/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.7186582887056027e-09, + 8.756551806624821e-11, + -7.717437170563385e-07 + ], + "orientation": [ + 1.0, + 8.483388610282603e-10, + -2.139619859126107e-09, + 1.77559153993807e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.11288526746251011, + -0.0341740496840229, + 0.770999088122541 + ], + "orientation": [ + 0.9999595354313464, + 0.000799860440124214, + -0.00039102191587964965, + 0.00895180568723544 + ], + "class": "CommonContainer" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + 0.2090632455461058, + 0.14564964173978281, + 0.7650083394141061 + ], + "orientation": [ + -0.00025851694292264597, + 0.0002721152505986941, + 0.707388093449136, + 0.7068252573081116 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_1/hulk_gym.xml", + "position": [ + 0.2279952944457852, + -0.15051923791067132, + 0.7653182920300404 + ], + "orientation": [ + 0.7068193035969839, + 0.7073827633687199, + 0.0028639487842724884, + -0.002809973108301068 + ], + "class": "Toy" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2851498675355761, + 0.14546927512857846, + 0.7657528029354084 + ], + "orientation": [ + 0.7067910937354123, + 0.7073544039767066, + 0.006908562463033573, + -0.006954764967446556 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.27705172701028813, + -0.150306447094188, + 0.7649986169803863 + ], + "orientation": [ + 1.0706448321178005e-05, + 1.0723121053770788e-05, + 0.7073882457048118, + 0.7068252044240185 + ], + "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": [ + "hawkeye" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example74/input/input.png b/Semantic/select_toy_semantic/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fc785dc299c4b0fec5c4a7943a29c155433fc4e9 --- /dev/null +++ b/Semantic/select_toy_semantic/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b872b6b5bc0c5f0c82419c04daa8d16cbbf0b3d489f840495de43bfbe51a0a8 +size 950751 diff --git a/Semantic/select_toy_semantic/example74/input/input_mask.png b/Semantic/select_toy_semantic/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0a9874c8b0a57c4f87bb40362bf653017fc770f2 --- /dev/null +++ b/Semantic/select_toy_semantic/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67e54a978d9aec408c05474728b5f6421792090043d90d908f3ff6b5eb3314e0 +size 822382 diff --git a/Semantic/select_toy_semantic/example74/input/instruction.txt b/Semantic/select_toy_semantic/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..879a7ae9a365b29746e50e6d350b0a54ec36d547 --- /dev/null +++ b/Semantic/select_toy_semantic/example74/input/instruction.txt @@ -0,0 +1 @@ + For our role-play game, we need a character who is the epitome of accuracy and skill with projectiles, can you locate this character? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example74/output/operation_sequence.json b/Semantic/select_toy_semantic/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example74/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example75/env_config/env_config.json b/Semantic/select_toy_semantic/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a867557714481752357b6bfaca01fa3cc9d5f60c --- /dev/null +++ b/Semantic/select_toy_semantic/example75/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.769808289544592e-08, + 1.0198438186937889e-09, + -7.665961500612631e-07 + ], + "orientation": [ + 1.0, + 1.915770238396082e-09, + 9.812304737600484e-11, + 1.0017117331425457e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.06714380058734035, + 0.13014048640838402, + 0.770999094296977 + ], + "orientation": [ + 0.9976434750245995, + 0.0007671366392757819, + -0.0004518583214275424, + -0.0686054230092269 + ], + "class": "CommonContainer" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.2872022445090021, + -0.1698732908356116, + 0.7649987319951129 + ], + "orientation": [ + 0.7068250857563969, + 0.707388364404777, + 4.893457924916417e-06, + 5.123434140565844e-06 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.21025649464283394, + -0.13101597405034987, + 0.7649983830104999 + ], + "orientation": [ + 3.0898248846247734e-05, + 3.379289097703065e-05, + 0.7073883257153689, + 0.7068251230289885 + ], + "class": "Toy" + }, + { + "name": "rex", + "xml_path": "obj/meshes/toys/disney/toystory/rex/rex_0/disney_infinity_rex_toy_story.xml", + "position": [ + -0.2534972440657492, + 0.14788152338595137, + 0.7614741743688518 + ], + "orientation": [ + 0.7065061930357859, + 0.7076989849278997, + 0.0023627233422719883, + 0.002358701445505748 + ], + "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/Semantic/select_toy_semantic/example75/input/input.png b/Semantic/select_toy_semantic/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b6ed596d4d0141d1c968a10df4b3eb082fa4a760 --- /dev/null +++ b/Semantic/select_toy_semantic/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e359915ca4581760f8d616206c8539e23da5d72b88cf998de0b4d94b4cd316d4 +size 902790 diff --git a/Semantic/select_toy_semantic/example75/input/input_mask.png b/Semantic/select_toy_semantic/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..533a4bd8431a13414f839888ad06ab6064900669 --- /dev/null +++ b/Semantic/select_toy_semantic/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90ee5130aa23f446847b92b086ac268dfe059c2f5b41eedcd7fa2a990e832270 +size 787600 diff --git a/Semantic/select_toy_semantic/example75/input/instruction.txt b/Semantic/select_toy_semantic/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..7fdb1f231328aae9707d377e7ad3de53764cbd00 --- /dev/null +++ b/Semantic/select_toy_semantic/example75/input/instruction.txt @@ -0,0 +1 @@ + My son is dressing up as a sea-based hero for the school play; could you grab the toy that matches his character? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example75/output/operation_sequence.json b/Semantic/select_toy_semantic/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example75/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example76/env_config/env_config.json b/Semantic/select_toy_semantic/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf183ebc823e6ce5f21f75977ba187d8de215b2 --- /dev/null +++ b/Semantic/select_toy_semantic/example76/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 4.323490990513524e-09, + 1.246286549313781e-09, + -7.591984835693586e-07 + ], + "orientation": [ + 1.0, + 1.9348345834752417e-10, + -8.007496298419891e-10, + 6.004176103614787e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.28507447636645905, + -0.14138082267490287, + 0.7709991006975836 + ], + "orientation": [ + 0.9990285788340696, + 0.0008130964563905399, + -0.0003626938887210692, + 0.0440579845212612 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + 0.23168025343875912, + 0.13753673229420565, + 0.7598876422711908 + ], + "orientation": [ + -0.0026812748187920996, + -0.002978545556349204, + 0.7066841571716067, + 0.7075178026271636 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + 0.06064641590564015, + -0.1357351347438209, + 0.7649981869738164 + ], + "orientation": [ + -4.0165191667857085e-06, + -6.245707118297439e-06, + 0.7073881657416311, + 0.7068252845743063 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + -0.1226151764287481, + 0.14025211477587918, + 0.7664850308524498 + ], + "orientation": [ + 0.7057074463958367, + 0.7082905210602224, + -0.011048549761331503, + 0.01339654529631709 + ], + "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/Semantic/select_toy_semantic/example76/input/input.png b/Semantic/select_toy_semantic/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..add0367ee12d8c7245eb6982ddc5bfd80937dd78 --- /dev/null +++ b/Semantic/select_toy_semantic/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4022aa0dbf3af76d51daf627aa47a0de118dca8dfbf95439bfa8819388e2fddd +size 935417 diff --git a/Semantic/select_toy_semantic/example76/input/input_mask.png b/Semantic/select_toy_semantic/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6d68e93b643741c8a7ca98440eb63f48b723734 --- /dev/null +++ b/Semantic/select_toy_semantic/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:917bb18b58c0a825df527dc55c3d3bc162bcfcb3a76f9c09dccb94587a7d2eee +size 809761 diff --git a/Semantic/select_toy_semantic/example76/input/instruction.txt b/Semantic/select_toy_semantic/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..481ffbce8c9e7cc427db2b66fcd49f9756099fe2 --- /dev/null +++ b/Semantic/select_toy_semantic/example76/input/instruction.txt @@ -0,0 +1 @@ + It’s movie night and were watching a classic, could you get the star of the show from the shelf? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example76/output/operation_sequence.json b/Semantic/select_toy_semantic/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example76/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example77/env_config/env_config.json b/Semantic/select_toy_semantic/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0756130dc3d85a051256f6e6987dee68c1b54788 --- /dev/null +++ b/Semantic/select_toy_semantic/example77/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.4348495118914685e-09, + 1.6339742809793742e-08, + -7.664314382509179e-07 + ], + "orientation": [ + 1.0, + -1.9264014851761103e-09, + -3.763628837468475e-09, + -6.958976406700274e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2056428932944097, + -0.2335029548090303, + 1.0393950522727327 + ], + "orientation": [ + -0.5115730790967915, + 0.15377693219067495, + -0.21667207963626667, + -0.8171284169428624 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.25062292879375003, + 0.1658709205413128, + 0.7651538718545848 + ], + "orientation": [ + 0.7082203660204377, + 0.7059914398566585, + -1.4141289044856368e-06, + -1.0001718711300413e-06 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + 0.2322067407136236, + 0.14801586570972422, + 0.7598798412358183 + ], + "orientation": [ + 6.7707629701267125e-06, + 0.000497477275162056, + 0.7068538404426455, + 0.7073594565155686 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + -0.30937826311122485, + -0.21641181273716023, + 0.7619115284021943 + ], + "orientation": [ + -0.312675025714937, + -0.32482826266073095, + 0.6277673642099901, + 0.6345305859482407 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.19340205845253683, + -0.015766151807204767, + 0.8155472468642703 + ], + "orientation": [ + -0.5861164175759348, + -0.7280204139590346, + -0.34445795287185266, + 0.08833199086515359 + ], + "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/Semantic/select_toy_semantic/example77/input/input.png b/Semantic/select_toy_semantic/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d922241c477cb82f2ec3f47028e270d07aeacf62 --- /dev/null +++ b/Semantic/select_toy_semantic/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88a8e697b3f443f9ec2bcdc0c37b3b97d0a90ece12a11550e85734ed77d0f4b0 +size 930802 diff --git a/Semantic/select_toy_semantic/example77/input/input_mask.png b/Semantic/select_toy_semantic/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6a728c51e35fe98c98655b2edd761db8ea2e1bea --- /dev/null +++ b/Semantic/select_toy_semantic/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad452bce6c94a353547cba3210bd840881f9581b1f0f11d08e4d2d8f21939076 +size 790005 diff --git a/Semantic/select_toy_semantic/example77/input/instruction.txt b/Semantic/select_toy_semantic/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5571c7c523f4e0975f1a3dff780e94e853abaa84 --- /dev/null +++ b/Semantic/select_toy_semantic/example77/input/instruction.txt @@ -0,0 +1 @@ + Can you help me set up a display featuring characters known for their superhuman reflexes? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example77/output/operation_sequence.json b/Semantic/select_toy_semantic/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example77/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example78/env_config/env_config.json b/Semantic/select_toy_semantic/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0a53332748c9e6e4b536cfae3bbc7ae3a7f53332 --- /dev/null +++ b/Semantic/select_toy_semantic/example78/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1967466566889148e-08, + 3.8580763913572854e-11, + -7.612743018223866e-07 + ], + "orientation": [ + 1.0, + -6.196995970922866e-10, + -2.976167699431125e-10, + -5.336561553458313e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.2046340729653597, + -0.06277816787819622, + 0.7709990993326543 + ], + "orientation": [ + 0.9980770436549095, + 0.0008194735229708954, + -0.00034804330739636485, + 0.06197920827243248 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.26655003044245656, + 0.13647030480746333, + 0.765129066525291 + ], + "orientation": [ + 0.706824625482165, + 0.7073864772096461, + 0.0013004978483075087, + -0.0012764710224233478 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.11534912585014405, + -0.13080699086042005, + 0.7650177339072948 + ], + "orientation": [ + 0.0002692327140326087, + -0.00022591576934924792, + 0.7073876848733426, + 0.7068256784846916 + ], + "class": "Toy" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.07195097313528201, + 0.16029708495713038, + 0.764997464322596 + ], + "orientation": [ + 0.7068256105451947, + 0.7073878398567403, + 1.68242204849925e-05, + 4.144212635895363e-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": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example78/input/input.png b/Semantic/select_toy_semantic/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1453da21733b9396ddda44040ef4b5c044d757db --- /dev/null +++ b/Semantic/select_toy_semantic/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f168d097d9dcc4da92fafff8b274c0ce13310c2f1fe4a1fd1fb761408f5d3fc4 +size 892123 diff --git a/Semantic/select_toy_semantic/example78/input/input_mask.png b/Semantic/select_toy_semantic/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..af8332876fac74d7d9530b8fa7f82f009bf85629 --- /dev/null +++ b/Semantic/select_toy_semantic/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bf2e494cb4c93ee3a502d947a67a63e5cdbba3afeeae61465d1aefe9701bec7 +size 779642 diff --git a/Semantic/select_toy_semantic/example78/input/instruction.txt b/Semantic/select_toy_semantic/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4f8c2c0a4f9478ff8eb8e37546ae1a6e1e2c783a --- /dev/null +++ b/Semantic/select_toy_semantic/example78/input/instruction.txt @@ -0,0 +1 @@ + The kids are having a dress-up party; we need a character known for speed. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example78/output/operation_sequence.json b/Semantic/select_toy_semantic/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example78/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example79/env_config/env_config.json b/Semantic/select_toy_semantic/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..53f7feb40069fb98075fc693b9dce78b8df2c51f --- /dev/null +++ b/Semantic/select_toy_semantic/example79/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 9.181174560166074e-08, + 3.023833698767283e-08, + -8.096848801827876e-07 + ], + "orientation": [ + 1.0, + 1.1798470516827749e-08, + -1.9448560912833246e-08, + 1.0824867541742399e-08 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.04378741575435174, + -0.13315628155682765, + 0.7709990492812494 + ], + "orientation": [ + 0.9982464933503883, + 0.0007713777980461201, + -0.0004446175210858631, + -0.0591873787661515 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.2756421626923448, + 0.15965481696157538, + 0.7662710151835153 + ], + "orientation": [ + 0.011545662554282446, + -0.011474377891306583, + 0.7072944920151724, + 0.7067315882944454 + ], + "class": "Toy" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.22006941646862377, + 0.15839904748967237, + 0.7656147687510445 + ], + "orientation": [ + -0.006130751655704478, + 0.0060541279032109135, + 0.7073615896449922, + 0.7067993653890595 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_0/superman.xml", + "position": [ + -0.26804324274717256, + -0.15623529942720496, + 0.7662514362455327 + ], + "orientation": [ + 0.004806247577102014, + -0.003948719582958957, + 0.7002590322891984, + 0.7138617480263784 + ], + "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": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example79/input/input.png b/Semantic/select_toy_semantic/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4c183556ae0c80017808cf3f932dad6bd6257215 --- /dev/null +++ b/Semantic/select_toy_semantic/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c4ba0486a7df8b153b964b6e716f9ecee09f7d6c65264d9a47710f134f3f71d +size 912214 diff --git a/Semantic/select_toy_semantic/example79/input/input_mask.png b/Semantic/select_toy_semantic/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8757d8ec45b55067c3ab188c3da2eeae79b840d1 --- /dev/null +++ b/Semantic/select_toy_semantic/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:063ccd96d42b0cbb4cb0524ef8069db2d969e9308e8bcefeb45afda7cc3ad853 +size 795922 diff --git a/Semantic/select_toy_semantic/example79/input/instruction.txt b/Semantic/select_toy_semantic/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d650e6489cb64beaf8477f8b04a4e2f583097d3 --- /dev/null +++ b/Semantic/select_toy_semantic/example79/input/instruction.txt @@ -0,0 +1 @@ +** My sons birthday party is coming up, and hes really into superheroes who are super speedy. I need to set aside a special gift for him. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example79/output/operation_sequence.json b/Semantic/select_toy_semantic/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example79/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example8/env_config/env_config.json b/Semantic/select_toy_semantic/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..124430bd47b34f9fda442b9f526f3f21a2a1c61d --- /dev/null +++ b/Semantic/select_toy_semantic/example8/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.4486448375430326e-08, + 1.9807645683163837e-10, + -7.704128833445283e-07 + ], + "orientation": [ + 1.0, + -1.8588131342172947e-09, + -1.125518674561388e-09, + -2.247965346623252e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.2788111527136632, + -0.1317387821723079, + 0.7709990898564876 + ], + "orientation": [ + 0.9996647186656828, + 0.000806362260371986, + -0.0003774248723999776, + 0.025877743051355352 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.19946222543013922, + 0.1463304874467419, + 0.7657052969656225 + ], + "orientation": [ + 0.7067967796489534, + 0.7073610953150885, + -0.006237234171479009, + 0.006300001777627158 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + 0.06783311298181109, + -0.16376340365449807, + 0.7651454865922523 + ], + "orientation": [ + 0.7068246770672623, + 0.707385176502412, + 0.0016117765769906641, + -0.0015780144729068044 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + -0.10479532868393988, + 0.15117013428072673, + 0.7649981465150865 + ], + "orientation": [ + 0.7068256153387198, + 0.7073878290581375, + 7.287266799296887e-05, + -5.908494202437158e-05 + ], + "class": "Toy" + }, + { + "name": "joker", + "xml_path": "obj/meshes/toys/DC/joker/joker_0/joker_textured_rigged.xml", + "position": [ + -0.108552864638465, + -0.057641216593670025, + 0.7651143411605256 + ], + "orientation": [ + -0.0011126195020053306, + 0.0011163788177561181, + 0.7073867388316506, + 0.7068249553470096 + ], + "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/Semantic/select_toy_semantic/example8/input/input.png b/Semantic/select_toy_semantic/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..39c5f072e0262cb434dc03e5f3c377210cc96b3c --- /dev/null +++ b/Semantic/select_toy_semantic/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f09b9d8e1ba33f990ad0a7f2fd440f3b2c1087020d91f7b705de84a5b9b047ff +size 927730 diff --git a/Semantic/select_toy_semantic/example8/input/input_mask.png b/Semantic/select_toy_semantic/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..80e47171a35faf019c20295bf67c0cff4a84c278 --- /dev/null +++ b/Semantic/select_toy_semantic/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:855df68a4bf95ea223ce335302ccff40563e64df2f991207845448ea96a030c3 +size 808272 diff --git a/Semantic/select_toy_semantic/example8/input/instruction.txt b/Semantic/select_toy_semantic/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..f420d3ac1a9d6062a8dbb3681f6aadd8bb59a267 --- /dev/null +++ b/Semantic/select_toy_semantic/example8/input/instruction.txt @@ -0,0 +1 @@ + For my vintage animation collection, I’m looking for a character famous for his hot temper. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example8/output/operation_sequence.json b/Semantic/select_toy_semantic/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example8/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example80/env_config/env_config.json b/Semantic/select_toy_semantic/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..122aa1e53e78ef44d7d9bc47ab3d9dc9d4320978 --- /dev/null +++ b/Semantic/select_toy_semantic/example80/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 9.692327038938301e-09, + 2.8466128882145837e-11, + -7.629494811797497e-07 + ], + "orientation": [ + 1.0, + 3.802972360371094e-10, + 1.042968429304374e-09, + 2.357875124667164e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.21911848818676508, + 0.14958079045089906, + 0.7709990971146041 + ], + "orientation": [ + 0.9969334580247297, + 0.0008250419590722195, + -0.00033463071733240017, + 0.07824888241313419 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.28672693894641216, + -0.14344259896985911, + 0.7650426453099461 + ], + "orientation": [ + 0.00046598828311717735, + -0.00039938294460682824, + 0.7073878136416748, + 0.7068253705544487 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml", + "position": [ + 0.07069115768725573, + -0.13753889943133013, + 0.7657163564587668 + ], + "orientation": [ + 0.7067978158146193, + 0.7073585419610159, + 0.006382403182554771, + -0.006324998346474288 + ], + "class": "Toy" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + -0.09131529371036094, + 0.16188285040625344, + 0.7661206838821848 + ], + "orientation": [ + -0.010081331421545579, + 0.010026033737210126, + 0.7073165503043847, + 0.7067539480397507 + ], + "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/Semantic/select_toy_semantic/example80/input/input.png b/Semantic/select_toy_semantic/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f5e5d199cfffca6ed4b155893ab06739e479aff0 --- /dev/null +++ b/Semantic/select_toy_semantic/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c683462317046fcc89e252505b4bd65796597a2e1738ecc95112ec66c960074 +size 904118 diff --git a/Semantic/select_toy_semantic/example80/input/input_mask.png b/Semantic/select_toy_semantic/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..841aa0b87c52c978e92ebc63b1a6dc3cfdbbbda5 --- /dev/null +++ b/Semantic/select_toy_semantic/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a62d95564035fc5a58cd35d5030439f114fda6b56c199424fcb82d46a778e517 +size 788362 diff --git a/Semantic/select_toy_semantic/example80/input/instruction.txt b/Semantic/select_toy_semantic/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..89ee8f2efe11daee3e5e90b72af88cf4731bd5c5 --- /dev/null +++ b/Semantic/select_toy_semantic/example80/input/instruction.txt @@ -0,0 +1 @@ + I need to find a sturdy mate for my ship-themed game board. Can you locate the perfect crew member? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example80/output/operation_sequence.json b/Semantic/select_toy_semantic/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example80/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example81/env_config/env_config.json b/Semantic/select_toy_semantic/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..56f6cfaa7fc9afd543a4a2c7bc86a98a85287448 --- /dev/null +++ b/Semantic/select_toy_semantic/example81/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.366298990372064e-08, + -7.573062481495933e-11, + -7.703429611153708e-07 + ], + "orientation": [ + 1.0, + 2.8009978757221563e-09, + 4.560870955060987e-09, + -2.6588334916841774e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.07406456166903326, + 0.13374929639635957, + 0.7709990901379348 + ], + "orientation": [ + 0.9999994286632999, + 0.0007965654492542303, + -0.0003976885414025743, + 0.0005916083029877217 + ], + "class": "CommonContainer" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.28114747222751135, + -0.16855671060587743, + 0.759890985309966 + ], + "orientation": [ + -0.0012902392096322032, + -0.0006803788773595928, + 0.7067330265936042, + 0.7074788346581187 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + 0.23141893221930032, + -0.1477022339740575, + 0.7650499234593523 + ], + "orientation": [ + 0.0005021224360616718, + -0.0005322074693423488, + 0.707388350443348, + 0.7068247210485128 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.28513975754873316, + 0.1332597244803706, + 0.7649979527655931 + ], + "orientation": [ + 0.7068259906974058, + 0.7073868331144092, + 0.0006727294305983667, + 0.0006592769617185536 + ], + "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/Semantic/select_toy_semantic/example81/input/input.png b/Semantic/select_toy_semantic/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2cd9d4a86154168878171f1d89a9a848ec3e669f --- /dev/null +++ b/Semantic/select_toy_semantic/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4b5b9d65377e96feac9c5a61464990c8b0160b35c5fb5b910cc48ead4d360b2 +size 896682 diff --git a/Semantic/select_toy_semantic/example81/input/input_mask.png b/Semantic/select_toy_semantic/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6777be696fa841edbd3d9cd4249a2fdb436f10e --- /dev/null +++ b/Semantic/select_toy_semantic/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e03382cb97ec752918df57f4c80688804ad5101cb14295562cf4012787fb866 +size 783688 diff --git a/Semantic/select_toy_semantic/example81/input/instruction.txt b/Semantic/select_toy_semantic/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb0dbe3992c479700db50750541a2b4691495beb --- /dev/null +++ b/Semantic/select_toy_semantic/example81/input/instruction.txt @@ -0,0 +1 @@ + The kids are dressing up for their school event as famous cartoon characters, find a suitable figure from the toy shelf. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example81/output/operation_sequence.json b/Semantic/select_toy_semantic/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example81/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example82/env_config/env_config.json b/Semantic/select_toy_semantic/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7e54d12f3378ce9b06e2cd04d013d21840cb1c51 --- /dev/null +++ b/Semantic/select_toy_semantic/example82/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.5106523863270186e-08, + -1.2483482750169766e-09, + -7.690569758484025e-07 + ], + "orientation": [ + 1.0, + 2.692203159959863e-09, + 2.0579413440256558e-10, + -1.5976055794395626e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.0417908952350227, + 0.1476547516700355, + 0.7709990921284491 + ], + "orientation": [ + 0.9997675951144259, + 0.0007875687751502403, + -0.0004152243847932503, + -0.021539802303017774 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.2777854088721053, + -0.14426749641292655, + 0.7649981513396104 + ], + "orientation": [ + -6.4805673450300085e-06, + -1.9749366327697194e-06, + 0.7073876236669687, + 0.706825827086773 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + 0.23510354718706566, + -0.16805408751989684, + 0.7649976067133034 + ], + "orientation": [ + -7.531260619469175e-06, + -1.3175653679077105e-05, + 0.7073882713005198, + 0.7068251788074229 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.2851442729112667, + 0.16029613754584782, + 0.7598659629382779 + ], + "orientation": [ + -0.0004167455272928318, + -0.0001192098948125802, + 0.7069862962537619, + 0.707227112759087 + ], + "class": "Toy" + }, + { + "name": "rex", + "xml_path": "obj/meshes/toys/disney/toystory/rex/rex_0/disney_infinity_rex_toy_story.xml", + "position": [ + -0.10718589311919594, + -0.047109496470005126, + 0.7615476438561286 + ], + "orientation": [ + -0.002606955279711673, + -0.0033248167460807098, + 0.7079006654842316, + 0.7062993679628754 + ], + "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": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example82/input/input.png b/Semantic/select_toy_semantic/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2335cf6bf86bb8940962fda6f0b76467c2f0d7df --- /dev/null +++ b/Semantic/select_toy_semantic/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc519dc2b82eee294bbd535b0a3d6f601897e01656f7390f5914fa2f03443f50 +size 894981 diff --git a/Semantic/select_toy_semantic/example82/input/input_mask.png b/Semantic/select_toy_semantic/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..644bcdfed8bfece1dc58d3f6e88b7a79e0925cc5 --- /dev/null +++ b/Semantic/select_toy_semantic/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de654a09d6a64dbd723b6acc137c74c5be70f45c4d0d346cca920257ff80d5f4 +size 777411 diff --git a/Semantic/select_toy_semantic/example82/input/instruction.txt b/Semantic/select_toy_semantic/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b957eb4dec270bf51052deaf166c1573ba150280 --- /dev/null +++ b/Semantic/select_toy_semantic/example82/input/instruction.txt @@ -0,0 +1 @@ + Can you assist me in creating an engaging and interactive display for my classrooms math corner? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example82/output/operation_sequence.json b/Semantic/select_toy_semantic/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example82/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example83/env_config/env_config.json b/Semantic/select_toy_semantic/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ab95727fa83ba376b05b1a12e3abe21409315f6b --- /dev/null +++ b/Semantic/select_toy_semantic/example83/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.567973878098381e-09, + -1.2395337861344168e-09, + -7.631238328580862e-07 + ], + "orientation": [ + 1.0, + -4.3370548296252386e-10, + 1.8429868724263436e-09, + 1.2885073790773642e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.11644953822944784, + 0.1698819317005538, + 0.7709990975654926 + ], + "orientation": [ + 0.9993594277763438, + 0.0007815720963025999, + -0.0004263971966810562, + -0.035776269300016886 + ], + "class": "CommonContainer" + }, + { + "name": "flashman", + "xml_path": "obj/meshes/toys/DC/flashman/flashman_0/flashinjustice_2_texturedrigged.xml", + "position": [ + 0.21371015909448016, + -0.14643695290984435, + 0.7653192745518707 + ], + "orientation": [ + -0.0032660846257642527, + 0.0018381720366780793, + 0.7069324172972182, + 0.7072711723158897 + ], + "class": "Toy" + }, + { + "name": "wonder_woman", + "xml_path": "obj/meshes/toys/DC/wonder_woman/wonder_woman_0/wonder_womantexturedrigged.xml", + "position": [ + -0.26208945300166836, + -0.1522102961076051, + 0.7654270660792949 + ], + "orientation": [ + 0.7068153511337347, + 0.7073774805254732, + 0.0038072154288213665, + -0.003829433092096054 + ], + "class": "Toy" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + 0.22146336017295562, + 0.14167870575363178, + 0.7680917028439038 + ], + "orientation": [ + 0.027468750985878698, + -0.027533721290706553, + 0.7068513334751816, + 0.7062921168153584 + ], + "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": [ + "flashman" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example83/input/input.png b/Semantic/select_toy_semantic/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..61c194dc7bdc29093c419b39f13e039570977479 --- /dev/null +++ b/Semantic/select_toy_semantic/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1408f3f5369080fbcd4015efcfb6ebbbcb856becb95a5f5adff1966e3ac54b69 +size 932420 diff --git a/Semantic/select_toy_semantic/example83/input/input_mask.png b/Semantic/select_toy_semantic/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e09ea5dcf18691ff547dfc03e888a486f885c84c --- /dev/null +++ b/Semantic/select_toy_semantic/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e320558dc8348d86cda977a901822d1172fb337ebec92a4fceb95b2ca38b3d97 +size 816629 diff --git a/Semantic/select_toy_semantic/example83/input/instruction.txt b/Semantic/select_toy_semantic/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..21d1e8c9b4ab0970bf572a188cb6d9d096a7e093 --- /dev/null +++ b/Semantic/select_toy_semantic/example83/input/instruction.txt @@ -0,0 +1 @@ + Im creating a gift basket themed around nostalgia, and I need a toy depicting the hero from those beloved old TV series. Could you find it for me? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example83/output/operation_sequence.json b/Semantic/select_toy_semantic/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example83/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example84/env_config/env_config.json b/Semantic/select_toy_semantic/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8db89bf111c78ff536304f1c1b050dda7d427356 --- /dev/null +++ b/Semantic/select_toy_semantic/example84/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.7590747225648913e-08, + -3.300554291274832e-10, + -7.703278033064455e-07 + ], + "orientation": [ + 1.0, + 2.802600038466406e-10, + -8.474230583593732e-09, + 4.737036973880166e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.04376837179655565, + -0.04665831095228941, + 0.7709990907950262 + ], + "orientation": [ + 0.9997133402035652, + 0.0008056257555764725, + -0.00037900600465549434, + 0.023925817449385194 + ], + "class": "CommonContainer" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_0/sanji.xml", + "position": [ + -0.26776362405884924, + 0.15811589263283257, + 0.7655575563947803 + ], + "orientation": [ + 0.005177573618785164, + -0.005130316419418098, + 0.7073700279925539, + 0.7068058545899806 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.2516316566514773, + -0.15724842968824104, + 0.7658836453320621 + ], + "orientation": [ + 0.7067817871010991, + 0.7073442284084379, + -0.007844392275152203, + 0.00788120988695797 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.2058955743296244, + 0.1576279679725351, + 0.7612772513876057 + ], + "orientation": [ + -0.010660046880525118, + 0.0010622514703214868, + 0.7104948708786538, + 0.703620830758616 + ], + "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/Semantic/select_toy_semantic/example84/input/input.png b/Semantic/select_toy_semantic/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..acb70ca8be8a69e6c98e7680f48b7ecba6faad68 --- /dev/null +++ b/Semantic/select_toy_semantic/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50464f9cc8c6fe92088a75fc948607daaa04cdd790d3c0b96fa292a785435aee +size 883881 diff --git a/Semantic/select_toy_semantic/example84/input/input_mask.png b/Semantic/select_toy_semantic/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a884fda62bc6bed5783af15ffeac3215a7535abb --- /dev/null +++ b/Semantic/select_toy_semantic/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0570de8cf245529c0e05d0faa32f5a314638a024e94d6e029ecf18525c4eb45 +size 770973 diff --git a/Semantic/select_toy_semantic/example84/input/instruction.txt b/Semantic/select_toy_semantic/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..5f70dfe726df57e3c1c81468755c803d54944514 --- /dev/null +++ b/Semantic/select_toy_semantic/example84/input/instruction.txt @@ -0,0 +1 @@ + For our miniature sea crew setup, we need someone to man the kitchen. Could you pick that character? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example84/output/operation_sequence.json b/Semantic/select_toy_semantic/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example84/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example85/env_config/env_config.json b/Semantic/select_toy_semantic/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9229f4bc37345288fb4cdc5ff7d9765791b90e --- /dev/null +++ b/Semantic/select_toy_semantic/example85/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.4580638056099934e-08, + 2.055813188164933e-11, + -7.66618383168994e-07 + ], + "orientation": [ + 1.0, + 2.417154725866954e-09, + -4.417094525033749e-09, + -1.2996645688034375e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.11789716025326745, + 0.04145790516681124, + 0.7709990929478735 + ], + "orientation": [ + 0.9999527867057948, + 0.0007924396274073218, + -0.0004058555843803321, + -0.009676346417711599 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + 0.2054824985767183, + -0.15011481566829096, + 0.7650189179913436 + ], + "orientation": [ + 0.7068256913072153, + 0.7073877118175192, + -0.00018081146270709252, + 0.00018597006702844514 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + 0.21146900268922933, + 0.15730659211432826, + 0.7598956738265773 + ], + "orientation": [ + 0.7071100209368563, + 0.7070985895931936, + -0.0023341660251012773, + -0.0012468179353410048 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + -0.27872043126307877, + -0.1425939862136033, + 0.7664711817020302 + ], + "orientation": [ + 0.01302166427084543, + -0.013087586058477782, + 0.7072666429806661, + 0.7067057712214019 + ], + "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/Semantic/select_toy_semantic/example85/input/input.png b/Semantic/select_toy_semantic/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..80cc9c49296a1cede7d222dc5f2ce62cffab6669 --- /dev/null +++ b/Semantic/select_toy_semantic/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c33c183c44b27a617da311076cf30aa66ad840cbb8dc9b3cf7e4010f5fc9513a +size 919978 diff --git a/Semantic/select_toy_semantic/example85/input/input_mask.png b/Semantic/select_toy_semantic/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d00117ed3d6263f2ba0c1c3e858cb2b2f793a68d --- /dev/null +++ b/Semantic/select_toy_semantic/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fd284de90b2537a22a20f81b2f1a27281c7d159c18a8540f34c4fb721db1cca +size 809341 diff --git a/Semantic/select_toy_semantic/example85/input/instruction.txt b/Semantic/select_toy_semantic/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..71353259fb72e5b3f64619f06982f6089adce566 --- /dev/null +++ b/Semantic/select_toy_semantic/example85/input/instruction.txt @@ -0,0 +1 @@ +** Im looking for the card that symbolizes a hole-in-one. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example85/output/operation_sequence.json b/Semantic/select_toy_semantic/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example85/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example86/env_config/env_config.json b/Semantic/select_toy_semantic/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..090f5b7fc159ba6bcd5a3aaba1b0aba7afe97bb4 --- /dev/null +++ b/Semantic/select_toy_semantic/example86/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.9039510558711894e-09, + 6.793409085238777e-11, + -7.674679919646466e-07 + ], + "orientation": [ + 1.0, + -1.70706559622706e-09, + -2.733629315625632e-09, + 2.1120222473939884e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.055597989121152366, + -0.16394178832866682, + 0.7709990938033845 + ], + "orientation": [ + 0.9973499951818852, + 0.0007652503090177084, + -0.000455042974426482, + -0.07274747032404873 + ], + "class": "CommonContainer" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.2691633121972598, + 0.15549011772832128, + 0.7649985299006816 + ], + "orientation": [ + 0.7068250814465328, + 0.7073883674561512, + -2.8934963907129744e-05, + -3.1441896149563207e-05 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.2122589545797539, + 0.14693972679577152, + 0.7649985266329384 + ], + "orientation": [ + -3.027259467494463e-05, + -2.5536776341570336e-05, + 0.7073882512727296, + 0.706825197904511 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + -0.2555555938119318, + -0.14996001470507014, + 0.7649987085627907 + ], + "orientation": [ + 0.7068253247307841, + 0.7073881253503147, + 1.4891742613889687e-05, + 1.4519809246438563e-05 + ], + "class": "Toy" + } + ], + "scene": { + "name": "studyroom_0", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [], + "conditions": { + "contain": { + "container": "giftbox_seen", + "entities": [ + "alien" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example86/input/input.png b/Semantic/select_toy_semantic/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9838166d4acdc1c397fde1d9f0acbaab73c2c447 --- /dev/null +++ b/Semantic/select_toy_semantic/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2785018186dc98e4cdc19339b4092d10690fbed05525828b36f75aa19855a878 +size 915418 diff --git a/Semantic/select_toy_semantic/example86/input/input_mask.png b/Semantic/select_toy_semantic/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ee2e3e87a670e5c2fd8779f53b695c969e574071 --- /dev/null +++ b/Semantic/select_toy_semantic/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a017415800354e2ac3073548abfe01a0509c0b15bded60f484992eab03ce50e +size 807682 diff --git a/Semantic/select_toy_semantic/example86/input/instruction.txt b/Semantic/select_toy_semantic/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..122558b49e64438e7cf6a35abbe684cf69d115e3 --- /dev/null +++ b/Semantic/select_toy_semantic/example86/input/instruction.txt @@ -0,0 +1 @@ + My son is fascinated by space and unidentified flying objects. Could you pick something out from his toy box that fits that theme? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example86/output/operation_sequence.json b/Semantic/select_toy_semantic/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example86/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example87/env_config/env_config.json b/Semantic/select_toy_semantic/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..af5bde756917fd78f7aca7b4adbecb554fb383d9 --- /dev/null +++ b/Semantic/select_toy_semantic/example87/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.6608059620315013e-10, + 1.0779865792888773e-08, + -7.69263876721782e-07 + ], + "orientation": [ + 1.0, + -2.4448613148849164e-09, + -4.612737967793827e-09, + 1.397496195642634e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.23168604527600825, + 0.1455463762785694, + 0.7709990925694917 + ], + "orientation": [ + 0.9973888795131024, + 0.0007654937182682244, + -0.000454634290324529, + -0.0722123974856729 + ], + "class": "CommonContainer" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_0/spiderman_aracnido.xml", + "position": [ + -0.2626085962785216, + -0.15930918541109348, + 0.7656997610715898 + ], + "orientation": [ + 0.7095488617593951, + 0.7045958054603828, + 0.009003503891944646, + 0.0020249990738473557 + ], + "class": "Toy" + }, + { + "name": "zoro", + "xml_path": "obj/meshes/toys/onepiece/zoro/zoro_0/one_piece_zoro_figurine.xml", + "position": [ + 0.0710069933445885, + -0.16598429859084754, + 0.7613327221070784 + ], + "orientation": [ + 0.7030437143932052, + 0.7111376543514706, + -0.0022949229092778835, + 0.002739624889343033 + ], + "class": "Toy" + }, + { + "name": "robin", + "xml_path": "obj/meshes/toys/onepiece/robin/robin_0/nico_robin.xml", + "position": [ + -0.09035916008539792, + 0.13508725442600764, + 0.7683362902215122 + ], + "orientation": [ + 0.7118126380467968, + 0.7015314323017406, + -0.02231101975136404, + 0.026050646962827027 + ], + "class": "Toy" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.08816688605710236, + -0.03653593793472863, + 0.7650329318891551 + ], + "orientation": [ + 0.00031706096339889834, + -0.00030161824466453155, + 0.7073880530081383, + 0.706825261970833 + ], + "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/Semantic/select_toy_semantic/example87/input/input.png b/Semantic/select_toy_semantic/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a6537ff72db3e0f0b3c845ea3e843717ea96bfe0 --- /dev/null +++ b/Semantic/select_toy_semantic/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0396a084012c3af9a268bd7511e0a8a8c9635e7522786236aa5e6be8d80b3cc5 +size 947489 diff --git a/Semantic/select_toy_semantic/example87/input/input_mask.png b/Semantic/select_toy_semantic/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d274a177f7fcf42d8cb3dd661da66ae8f35e2c1d --- /dev/null +++ b/Semantic/select_toy_semantic/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d17342f2adcd1c3ee387ad1e414009a8687aa129d23d53c1f2a196f2a47e244a +size 812224 diff --git a/Semantic/select_toy_semantic/example87/input/instruction.txt b/Semantic/select_toy_semantic/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2ffa60ba7156a161c01f8e698ccac1f4697111df --- /dev/null +++ b/Semantic/select_toy_semantic/example87/input/instruction.txt @@ -0,0 +1 @@ + My nephew loves superheroes, especially the ones who can swing between buildings. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example87/output/operation_sequence.json b/Semantic/select_toy_semantic/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example87/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example88/env_config/env_config.json b/Semantic/select_toy_semantic/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ee8f3aa22162ff0e31215c4cedf2e5a5db6e4c22 --- /dev/null +++ b/Semantic/select_toy_semantic/example88/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.540551242334497e-08, + 6.011625326241831e-08, + -7.609820790475129e-07 + ], + "orientation": [ + 0.9999999999999997, + 5.053697381173003e-10, + 2.981305844305881e-10, + -5.600233625489952e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.33618180776821877, + -0.22928980822619383, + 1.1828400980989615 + ], + "orientation": [ + -0.5899075020143458, + -0.01658273881027961, + 0.80385961136399, + 0.07445721629553054 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + 0.21604276414158802, + -0.15701546751583, + 0.7649974826132085 + ], + "orientation": [ + 0.002022756827314111, + 0.002045287370525998, + 0.7073849510061055, + 0.7068226484376959 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_0/Ironman.xml", + "position": [ + 0.21759049232156316, + 0.14693908228107114, + 0.7649965704531766 + ], + "orientation": [ + -4.784090087174492e-05, + -1.5741050214584136e-05, + 0.7073879916752571, + 0.7068254570239494 + ], + "class": "Toy" + }, + { + "name": "wonder_woman", + "xml_path": "obj/meshes/toys/DC/wonder_woman/wonder_woman_0/wonder_womantexturedrigged.xml", + "position": [ + -0.2766934832348045, + -0.1400414652404059, + 0.7655520612880851 + ], + "orientation": [ + 0.7068066961995728, + 0.7073691467039243, + -0.005127087029500359, + 0.005186277798090406 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + -0.2773291836980578, + 0.022934057396674153, + 0.9017631214315597 + ], + "orientation": [ + -0.6971536014856818, + 0.11199108580920933, + 0.7047334097289947, + -0.0691785649356925 + ], + "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/Semantic/select_toy_semantic/example88/input/input.png b/Semantic/select_toy_semantic/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..121ed4dda3db8f6a0b1f46d284f7c2a5f4842904 --- /dev/null +++ b/Semantic/select_toy_semantic/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21e3b2339fccb30cf95946a458b03c9183490750e9c8dbb809f92c9dbc872f42 +size 945322 diff --git a/Semantic/select_toy_semantic/example88/input/input_mask.png b/Semantic/select_toy_semantic/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9af1b097cf0c363463d9e7d5b1adbe0fb2cc7bef --- /dev/null +++ b/Semantic/select_toy_semantic/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1ea114082c656318a387bb5e034a751388a8f2b817944073dcfe7b7d3fce316 +size 816046 diff --git a/Semantic/select_toy_semantic/example88/input/instruction.txt b/Semantic/select_toy_semantic/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4eddbf9db8c6964ddffd852c1f37d87d2e99c2b4 --- /dev/null +++ b/Semantic/select_toy_semantic/example88/input/instruction.txt @@ -0,0 +1 @@ +** Goofys a bit too silly for me today. Id prefer a pal whos a bit more down-to-earth. Any ideas? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example88/output/operation_sequence.json b/Semantic/select_toy_semantic/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example88/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example89/env_config/env_config.json b/Semantic/select_toy_semantic/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..be5e6f212d10094d7364d016253c65111ae7f036 --- /dev/null +++ b/Semantic/select_toy_semantic/example89/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 8.955463378608734e-09, + -1.853837076316051e-11, + -7.654364922649718e-07 + ], + "orientation": [ + 1.0, + -4.709604000352835e-10, + -2.9130758383173936e-09, + 5.962281768551028e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.22182891798816629, + -0.13403991271086083, + 0.7709990963897443 + ], + "orientation": [ + 0.9993137510466223, + 0.0007810365980382891, + -0.0004273822891363302, + -0.03703018087100497 + ], + "class": "CommonContainer" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.2528758109753296, + 0.13418732952792892, + 0.7649983625372127 + ], + "orientation": [ + 0.7068256394519434, + 0.7073878111834238, + 8.32385216802767e-07, + -1.3357588309777082e-06 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + 0.07597360583121086, + 0.16095904262029614, + 0.764998777846118 + ], + "orientation": [ + 0.7068258957752065, + 0.7073875550600243, + 2.059001281854612e-06, + 1.8806835637980074e-06 + ], + "class": "Toy" + }, + { + "name": "ironman", + "xml_path": "obj/meshes/toys/marvel/ironman/ironman_1/iron-man_mark_7.xml", + "position": [ + -0.09531203286830266, + -0.16717953440994926, + 0.7649937895397887 + ], + "orientation": [ + 0.7068245726884589, + 0.7073888731475066, + 5.9159461602850216e-05, + -4.572785904175188e-05 + ], + "class": "Toy" + }, + { + "name": "daisy", + "xml_path": "obj/meshes/toys/disney/mickey/daisy/daisy_duck_0/game_cube_-_disneys_party_-_daisy_duck.xml", + "position": [ + -0.26502460761570185, + -0.04255168118641027, + 0.7650532922158562 + ], + "orientation": [ + 0.0005092889136764278, + -0.00046612991863979663, + 0.7073878865865344, + 0.7068252268123548 + ], + "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": [ + "pluto" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example89/input/input.png b/Semantic/select_toy_semantic/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9e9541fdb107fcdf31cde2940c92878056a11134 --- /dev/null +++ b/Semantic/select_toy_semantic/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:037ee041dcc9a9125be359594ed704d0eb0f4911ddb832914c550e32b05783a0 +size 941789 diff --git a/Semantic/select_toy_semantic/example89/input/input_mask.png b/Semantic/select_toy_semantic/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e97a03c7e79a8ec0e7bd86c7c85c65e77a7c4fc3 --- /dev/null +++ b/Semantic/select_toy_semantic/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e26efbf2afa2f3e6e16f3be2e9e3216ed1e2eb520c0bedf5cea550fbe8171c5 +size 813187 diff --git a/Semantic/select_toy_semantic/example89/input/instruction.txt b/Semantic/select_toy_semantic/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f49947c113f391ed7a6fb8841facccd4c0fff4f --- /dev/null +++ b/Semantic/select_toy_semantic/example89/input/instruction.txt @@ -0,0 +1 @@ +** I want to add a lovable, floppy-eared friend to this display. See anything that fits the bill? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example89/output/operation_sequence.json b/Semantic/select_toy_semantic/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example89/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example9/env_config/env_config.json b/Semantic/select_toy_semantic/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77262ab6834f4ecc3d71f8cf45b49287e5b9da9f --- /dev/null +++ b/Semantic/select_toy_semantic/example9/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.703913238448006e-08, + -6.512059142115151e-09, + -7.708880062503635e-07 + ], + "orientation": [ + 1.0, + 3.89492267752179e-09, + -3.601675230352846e-09, + 6.674575789069946e-10 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.04069955299579755, + 0.15238875222504647, + 0.7709990909990825 + ], + "orientation": [ + 0.999936081424231, + 0.0007917927794688205, + -0.0004071181388470798, + -0.011271219320437224 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.26705358738833723, + -0.16787156021181532, + 0.7663027459056958 + ], + "orientation": [ + -0.005506543657122349, + 0.007651753765445849, + 0.7022194527446376, + 0.7118981449816311 + ], + "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": [ + 0.2078771158600802, + -0.13916754226788136, + 0.7616117702976483 + ], + "orientation": [ + -0.0010489598320307144, + 0.001037207966533708, + 0.7070678870977181, + 0.7071441344719435 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + -0.2546775122865742, + 0.13506209970299426, + 0.7659350631009989 + ], + "orientation": [ + -0.0002862278568264566, + 0.016200996714468455, + 0.70731104670062, + 0.7067167247167332 + ], + "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/Semantic/select_toy_semantic/example9/input/input.png b/Semantic/select_toy_semantic/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dfa9309100c0037885d6a665e1293607ea1a98ed --- /dev/null +++ b/Semantic/select_toy_semantic/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:662ab325922796dae5576f7a2b98585a8b46567b511f4e69c0b6b7d22cd4a41d +size 896273 diff --git a/Semantic/select_toy_semantic/example9/input/input_mask.png b/Semantic/select_toy_semantic/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3d135c2988c628ac65061881c57dea7fb703762c --- /dev/null +++ b/Semantic/select_toy_semantic/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4aebcc2b3a848086c4caefedb1ed8d68960deb2ec370412557466838cb7ee737 +size 780471 diff --git a/Semantic/select_toy_semantic/example9/input/instruction.txt b/Semantic/select_toy_semantic/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a39a744365ee8ef65b953c5e96f7032cd2561202 --- /dev/null +++ b/Semantic/select_toy_semantic/example9/input/instruction.txt @@ -0,0 +1 @@ + I’m setting up a display of my favorite manga characters, and Im missing the key character known for his rubber powers. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example9/output/operation_sequence.json b/Semantic/select_toy_semantic/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example9/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example90/env_config/env_config.json b/Semantic/select_toy_semantic/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..06ccc124dcdd0a29e6251685c3a2340d9f155ff6 --- /dev/null +++ b/Semantic/select_toy_semantic/example90/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.942745453017897e-08, + 2.3534087613070524e-09, + -7.781148926263691e-07 + ], + "orientation": [ + 1.0, + -3.237790094786832e-09, + -9.44240323691841e-11, + -4.764942677408588e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.11896575221939829, + -0.15531898052227341, + 0.770999083275292 + ], + "orientation": [ + 0.9979144340477328, + 0.0008203628303291471, + -0.0003459353962834239, + 0.06454447809627863 + ], + "class": "CommonContainer" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + 0.20439659957408168, + 0.15070756922851652, + 0.7660027228071739 + ], + "orientation": [ + 0.7067701090560705, + 0.7073306521491259, + -0.008900191625581467, + 0.008952545123652067 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_1/loki_textured_rigged.xml", + "position": [ + -0.2726121698240319, + 0.16742912298538642, + 0.7719674860195654 + ], + "orientation": [ + 0.062153090641777806, + -0.061531085195162954, + 0.7038707703734903, + 0.7049232990135936 + ], + "class": "Toy" + }, + { + "name": "thanos", + "xml_path": "obj/meshes/toys/marvel/thanos/thanos_0/thanos_annihilationtextured__rigged.xml", + "position": [ + 0.2112841392758876, + -0.1450629518666651, + 0.7651749651177079 + ], + "orientation": [ + 0.7048784338066179, + 0.7093281282667933, + 1.6112010478064338e-06, + 1.1233258312213516e-06 + ], + "class": "Toy" + }, + { + "name": "pluto", + "xml_path": "obj/meshes/toys/disney/mickey/pluto/pluto_0/pluto.xml", + "position": [ + -0.2826815946448108, + -0.06733566299986468, + 0.7649981591496232 + ], + "orientation": [ + 0.7068281097316178, + 0.7073837391815218, + -0.0010623484308591778, + -0.0010678251774062738 + ], + "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": [ + "batman" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example90/input/input.png b/Semantic/select_toy_semantic/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ee70afa0580c21b46bceadb4eeffb68a48ce6cc5 --- /dev/null +++ b/Semantic/select_toy_semantic/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b86643267fcdedc0e186e97011d922e40762eae8764b6b663234da78c4baad4 +size 922984 diff --git a/Semantic/select_toy_semantic/example90/input/input_mask.png b/Semantic/select_toy_semantic/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9f186ac356bceb58ed6799eb3e90c0c41403d4d5 --- /dev/null +++ b/Semantic/select_toy_semantic/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6511a800e30fbd45e8252de6cb04bc0acfca4b7326692b7a615fc5c8823d570 +size 800309 diff --git a/Semantic/select_toy_semantic/example90/input/instruction.txt b/Semantic/select_toy_semantic/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..6f143165fdd8f067308b098adf5eb77de2216c33 --- /dev/null +++ b/Semantic/select_toy_semantic/example90/input/instruction.txt @@ -0,0 +1 @@ + We are creating a storyboard for a new animated short. Can you provide me with a toy of a hero who has legendary gadgets? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example90/output/operation_sequence.json b/Semantic/select_toy_semantic/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example90/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example91/env_config/env_config.json b/Semantic/select_toy_semantic/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..783b19a868b2114d2a111d2340fb9e135ee42f56 --- /dev/null +++ b/Semantic/select_toy_semantic/example91/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.87415508007575e-08, + 3.2354983352493552e-09, + -7.735737225936978e-07 + ], + "orientation": [ + 1.0, + -2.222600522417207e-09, + -1.0687072912951753e-09, + -2.487014083803221e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.08039323081320343, + -0.1448976027159095, + 0.770999085659402 + ], + "orientation": [ + 0.9946354805882449, + 0.0007508686169358287, + -0.0004783925210987047, + -0.10343823322112061 + ], + "class": "CommonContainer" + }, + { + "name": "donald", + "xml_path": "obj/meshes/toys/disney/mickey/donald/donald_0/donald.xml", + "position": [ + 0.20158200898583223, + 0.15169805873352013, + 0.7662326885450932 + ], + "orientation": [ + 0.011093022595551326, + -0.011012755999337192, + 0.7073028584113475, + 0.7067378089066205 + ], + "class": "Toy" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + -0.253007007315249, + 0.13349484296922454, + 0.7649988939263304 + ], + "orientation": [ + 0.7068257122502748, + 0.7073877383930421, + -6.2781837511732465e-06, + -5.801200289418575e-06 + ], + "class": "Toy" + }, + { + "name": "aquaman", + "xml_path": "obj/meshes/toys/DC/aquaman/aquaman_0/fortnite_aquaman__chapter_2_season_3_bp_skin.xml", + "position": [ + 0.22804270944077593, + -0.1304237893950753, + 0.765281776066893 + ], + "orientation": [ + 0.0031196528889768683, + -0.0030543985725969376, + 0.707381309903476, + 0.7068186619030754 + ], + "class": "Toy" + }, + { + "name": "thor", + "xml_path": "obj/meshes/toys/marvel/thor/thor_0/thortexturedrigged.xml", + "position": [ + -0.2627756307886202, + -0.06031110206693899, + 0.7666473120865172 + ], + "orientation": [ + 0.7052750428109662, + 0.7074038079172552, + 0.014651473872892907, + 0.044184848596640826 + ], + "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/Semantic/select_toy_semantic/example91/input/input.png b/Semantic/select_toy_semantic/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..855994411899f05714afe62799110c4006dcbf07 --- /dev/null +++ b/Semantic/select_toy_semantic/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cdb0475fa901be61a44e2b557e05e7f2b168b2daf3a73f8a80fd42a07bd5ded +size 926635 diff --git a/Semantic/select_toy_semantic/example91/input/input_mask.png b/Semantic/select_toy_semantic/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..93ccc1cf3383bfe081f5a99981bb4f4061cec978 --- /dev/null +++ b/Semantic/select_toy_semantic/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b84db2d67cb792850563e97b1f07886a947c099385ea46925cc2e172b3754515 +size 797557 diff --git a/Semantic/select_toy_semantic/example91/input/instruction.txt b/Semantic/select_toy_semantic/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..35a4e89a78a93f9826f9ace35eb0eaf04ce1ab52 --- /dev/null +++ b/Semantic/select_toy_semantic/example91/input/instruction.txt @@ -0,0 +1 @@ + My friend loves collecting figures of characters who are known for their short tempers. Could you find one? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example91/output/operation_sequence.json b/Semantic/select_toy_semantic/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example91/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example92/env_config/env_config.json b/Semantic/select_toy_semantic/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..17a3cb64ec5fa2e5270940f9c2e31c06f03a4a56 --- /dev/null +++ b/Semantic/select_toy_semantic/example92/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.5127181450908635e-08, + 1.2417546058108194e-08, + -7.765669119474892e-07 + ], + "orientation": [ + 0.9999999999999992, + -3.2090291444187694e-09, + -6.894133672778567e-09, + -5.838817497432606e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.22675826657144604, + -0.14750070855156333, + 0.7709990879138354 + ], + "orientation": [ + 0.998305595968469, + 0.0007718094365296159, + -0.00044382878794160964, + -0.058181993642707666 + ], + "class": "CommonContainer" + }, + { + "name": "luffy", + "xml_path": "obj/meshes/toys/onepiece/luffy/luffy_1/monkey_d_luffy_damage_-_one_piece.xml", + "position": [ + -0.28054037229501344, + 0.15949005888107376, + 0.7652716009919307 + ], + "orientation": [ + 0.7068220807127609, + 0.7073830922623838, + -0.00244819724594723, + 0.0023902569810742113 + ], + "class": "Toy" + }, + { + "name": "superman", + "xml_path": "obj/meshes/toys/DC/superman/superman_1/superman_textured_rigged.xml", + "position": [ + 0.06471505920692215, + 0.16087771669485187, + 0.764998874709627 + ], + "orientation": [ + 0.7068255357798172, + 0.707387914737378, + -5.3998116710251205e-06, + -4.890979472203126e-06 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml", + "position": [ + -0.11552002284140582, + -0.1380641462184109, + 0.7657822579011417 + ], + "orientation": [ + 0.706790770045242, + 0.7073521117242377, + 0.0070408201645048435, + -0.007086908319350277 + ], + "class": "Toy" + }, + { + "name": "doctor_strange", + "xml_path": "obj/meshes/toys/marvel/doctor_strange/doctor_strange_0/doctor_strangetexturedrigged.xml", + "position": [ + -0.25817029293672394, + -0.031826235568483956, + 0.7662675124158461 + ], + "orientation": [ + 0.7092201096242474, + 0.7048746356055996, + 0.007566810023947794, + -0.010066159670253436 + ], + "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/Semantic/select_toy_semantic/example92/input/input.png b/Semantic/select_toy_semantic/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..36b7bf671aefeefe5f66299248c219b8be17889b --- /dev/null +++ b/Semantic/select_toy_semantic/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a388d2734dc81d18d340c45ae50a4cb67b9fadd5541516a56c45ecb220f7cbc5 +size 905145 diff --git a/Semantic/select_toy_semantic/example92/input/input_mask.png b/Semantic/select_toy_semantic/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7595950fa11565dd829dfe455eb33fc930e245c7 --- /dev/null +++ b/Semantic/select_toy_semantic/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9276c0c397d333d9e6bf4f034120a148a34119d2992dda20e1149b74be5b9cd1 +size 782656 diff --git a/Semantic/select_toy_semantic/example92/input/instruction.txt b/Semantic/select_toy_semantic/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..d0bfcdfb78e61b54b6b5b4916c95cb6d42379a7b --- /dev/null +++ b/Semantic/select_toy_semantic/example92/input/instruction.txt @@ -0,0 +1 @@ + Im writing a blog post comparing different pirate captain characters and I need some visual aids to make my point. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example92/output/operation_sequence.json b/Semantic/select_toy_semantic/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example92/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example93/env_config/env_config.json b/Semantic/select_toy_semantic/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d36058c1f1826e5eafc9c12601bba324db5b995d --- /dev/null +++ b/Semantic/select_toy_semantic/example93/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.782155434668851e-09, + -1.7861282805521508e-09, + -7.643987915083927e-07 + ], + "orientation": [ + 1.0, + 6.174395293904785e-10, + -7.575759635897473e-10, + 6.431463238445451e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20213775941274054, + 0.1333666313328807, + 0.7709990964793347 + ], + "orientation": [ + 0.9981447459448162, + 0.0008190906481863818, + -0.0003489467888497645, + 0.06087917106372601 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + -0.28648763049454157, + -0.13222458597695957, + 0.7649962023856103 + ], + "orientation": [ + 5.2243024651550435e-06, + -7.519319028216267e-06, + 0.7073877730677548, + 0.706825677540374 + ], + "class": "Toy" + }, + { + "name": "slinky_dog", + "xml_path": "obj/meshes/toys/disney/toystory/slinky_dog/slinky_dog_0/slinky_dog_for_garry_mod.xml", + "position": [ + 0.07574178838251452, + -0.16537009673773972, + 0.7615694244231559 + ], + "orientation": [ + 0.707114713335372, + 0.7070986995754753, + -0.00032353140224500245, + 0.00032645173893083477 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + -0.10749596805832229, + 0.15799936220690303, + 0.765129610673538 + ], + "orientation": [ + -0.0006262944740804046, + -0.0005992352195183947, + 0.7088218102826481, + 0.7053870497393697 + ], + "class": "Toy" + }, + { + "name": "spiderman", + "xml_path": "obj/meshes/toys/marvel/spiderman/spiderman_1/spiderman_classic_textured_rigged.xml", + "position": [ + -0.0973667129496983, + -0.061223524420747494, + 0.7658814222094517 + ], + "orientation": [ + -0.00807035565664925, + 0.008028134680835592, + 0.7073420564051699, + 0.7067797631890906 + ], + "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": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example93/input/input.png b/Semantic/select_toy_semantic/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..51fcdb0a249426a0cda71eef8780e4eb1cc4eb72 --- /dev/null +++ b/Semantic/select_toy_semantic/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a70dc3145aa9c8e51121ed4657ba217786bdc566b3e583cb4de06a85a20d68c7 +size 923814 diff --git a/Semantic/select_toy_semantic/example93/input/input_mask.png b/Semantic/select_toy_semantic/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..935e46ed24e68c32bd20c705631d14ac9d8ae974 --- /dev/null +++ b/Semantic/select_toy_semantic/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f0cce728099297527701aa384977df6708caa4707cedd48829ddbe11c17d5a1 +size 793777 diff --git a/Semantic/select_toy_semantic/example93/input/instruction.txt b/Semantic/select_toy_semantic/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..575e737a89c27411aa686dccf079c64b5bf4b3a9 --- /dev/null +++ b/Semantic/select_toy_semantic/example93/input/instruction.txt @@ -0,0 +1 @@ + It’s trivia night and today’s topic is famous explorers, could you fetch me a toy of a great navigator? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example93/output/operation_sequence.json b/Semantic/select_toy_semantic/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example93/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example94/env_config/env_config.json b/Semantic/select_toy_semantic/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e1cbf87e22e6e130d9bbe3a419555e5405211f27 --- /dev/null +++ b/Semantic/select_toy_semantic/example94/env_config/env_config.json @@ -0,0 +1,131 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2606146114873176e-09, + 4.1891376493081123e-10, + -7.808103080829067e-07 + ], + "orientation": [ + 1.0, + -3.2360440668728894e-10, + -9.292290783834144e-09, + -3.3035824398735307e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.20232831874365842, + 0.14816409694358934, + 0.7709990832615339 + ], + "orientation": [ + 0.9999384844135487, + 0.0007918762365152006, + -0.00040695343231553975, + -0.01105598071932157 + ], + "class": "CommonContainer" + }, + { + "name": "ace", + "xml_path": "obj/meshes/toys/onepiece/ace/ace_0/ace_one_piece.xml", + "position": [ + -0.26293957492876685, + -0.14848011058360688, + 0.7649970970396867 + ], + "orientation": [ + 0.706822659717341, + 0.7073907881702381, + 5.517215996427011e-06, + -2.2171001099082707e-05 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.04412294570668225, + -0.15534211425904243, + 0.7649980143222367 + ], + "orientation": [ + 3.9515435357439196e-05, + 2.9310411180069365e-05, + 0.7073881089478764, + 0.7068253397400083 + ], + "class": "Toy" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.10221493718677759, + 0.13444606611495508, + 0.7650451435022381 + ], + "orientation": [ + 0.70682644320653, + 0.7073867506568767, + -0.0004184219268360472, + 0.00043485883109446396 + ], + "class": "Toy" + }, + { + "name": "alien", + "xml_path": "obj/meshes/toys/disney/toystory/alien/alien_0/toy_story_alien.xml", + "position": [ + -0.09264608958023941, + -0.04542042590807414, + 0.7649984066131186 + ], + "orientation": [ + 0.7068249807754731, + 0.7073884686549428, + -2.355122828174928e-05, + -2.0275791528014764e-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": [ + "ace" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example94/input/input.png b/Semantic/select_toy_semantic/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0a51cffeb145aef4aea1c8cf273173efde181d04 --- /dev/null +++ b/Semantic/select_toy_semantic/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9812c79564f558053a3ec979ea4cae131e823c6546bfc6ed0f9dde9da5a668f1 +size 919574 diff --git a/Semantic/select_toy_semantic/example94/input/input_mask.png b/Semantic/select_toy_semantic/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dbaeba1b347a706f8b418a7cba2b5ba0086346bc --- /dev/null +++ b/Semantic/select_toy_semantic/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:649986feb929bad7078f55ac5b5cfa5b9582833295bc9afa377bcf363258694f +size 802684 diff --git a/Semantic/select_toy_semantic/example94/input/instruction.txt b/Semantic/select_toy_semantic/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..c2d487992c84ffe7165b3d540e9b134d4d178ab1 --- /dev/null +++ b/Semantic/select_toy_semantic/example94/input/instruction.txt @@ -0,0 +1 @@ + While arranging a display of various competitive games, I need something that epitomizes victory in card games. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example94/output/operation_sequence.json b/Semantic/select_toy_semantic/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example94/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example95/env_config/env_config.json b/Semantic/select_toy_semantic/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1edd8e4b52742aaf44e75f9316ae5aaabe5c2612 --- /dev/null +++ b/Semantic/select_toy_semantic/example95/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.8557131982452364e-08, + -5.092426982526532e-10, + -7.808172434740242e-07 + ], + "orientation": [ + 0.9999999999999997, + 3.284611030973748e-09, + -3.778908178247465e-09, + -9.441873774747012e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.048484968028976255, + 0.1325969350553802, + 0.7709990808276349 + ], + "orientation": [ + 0.9989341612347565, + 0.0008138568659188804, + -0.0003609941184924123, + 0.046149201926605106 + ], + "class": "CommonContainer" + }, + { + "name": "batman", + "xml_path": "obj/meshes/toys/DC/batman/batman_0/batman.xml", + "position": [ + -0.2662296890033995, + -0.14813902216626643, + 0.765561791024155 + ], + "orientation": [ + 0.004955906696276069, + -0.005021372105995323, + 0.7073691453524855, + 0.7068091093175615 + ], + "class": "Toy" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_1/sanji_one_piece.xml", + "position": [ + 0.20070900708425732, + -0.1369446047978034, + 0.7659127411333718 + ], + "orientation": [ + -0.008191309904611694, + 0.008150339502101773, + 0.7073399600368072, + 0.7067790710987242 + ], + "class": "Toy" + }, + { + "name": "reiju", + "xml_path": "obj/meshes/toys/onepiece/reiju/reiju_0/reiju.xml", + "position": [ + -0.26872218804677866, + 0.1337587476251407, + 0.7661405552825193 + ], + "orientation": [ + -0.010092964606322807, + 0.01015645702722872, + 0.7073148698260486, + 0.7067536015961073 + ], + "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": [ + "batman" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example95/input/input.png b/Semantic/select_toy_semantic/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..70a52fff81b6701a98b16d87cedb77eb062c19ef --- /dev/null +++ b/Semantic/select_toy_semantic/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb747c237973982f42c8a120865b7d9833c407b9c84abb894c385a5bcd1d1c1a +size 897730 diff --git a/Semantic/select_toy_semantic/example95/input/input_mask.png b/Semantic/select_toy_semantic/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..513bca4b4873c6a8d6715ef2f236295db900ee76 --- /dev/null +++ b/Semantic/select_toy_semantic/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00404da01f9fda226e2b8ce1b60a839aac510649f28d682f442883ef6bbf9743 +size 790707 diff --git a/Semantic/select_toy_semantic/example95/input/instruction.txt b/Semantic/select_toy_semantic/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c5251303d45ccc793f91f749f8629264cb4b35a --- /dev/null +++ b/Semantic/select_toy_semantic/example95/input/instruction.txt @@ -0,0 +1 @@ + My sons birthday is coming up, and hes really into superheroes. He keeps talking about the one that drives the cool car and has a pointy-eared mask. Could you find something he might like?` \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example95/output/operation_sequence.json b/Semantic/select_toy_semantic/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example95/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example96/env_config/env_config.json b/Semantic/select_toy_semantic/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5f93ff9fcb51a53f0780ba811d48f3e777d349 --- /dev/null +++ b/Semantic/select_toy_semantic/example96/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.722150019666794e-09, + -2.5845529357192994e-10, + -7.696416925556821e-07 + ], + "orientation": [ + 1.0, + 2.977810600119309e-09, + -1.987169603542266e-09, + 1.8644298245760103e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + 0.05072198654943091, + 0.06988549418415546, + 0.7709990913834508 + ], + "orientation": [ + 0.9972074261418082, + 0.0007643733902102958, + -0.00045652113554980997, + -0.07467634544755833 + ], + "class": "CommonContainer" + }, + { + "name": "jessie", + "xml_path": "obj/meshes/toys/disney/toystory/jessie/jessie_0/disney_infinity_jessie.xml", + "position": [ + -0.2761530585870268, + -0.16076780225280998, + 0.7653117848596699 + ], + "orientation": [ + 0.7068186543076549, + 0.7073819596750832, + 0.00298884122829189, + -0.0030364250470197992 + ], + "class": "Toy" + }, + { + "name": "hulk", + "xml_path": "obj/meshes/toys/marvel/hulk/hulk_0/cartoonic_hulk_textured_rigged.xml", + "position": [ + -0.28584119564869237, + 0.13201478783585577, + 0.7663394629340122 + ], + "orientation": [ + -0.01203779641507657, + 0.011956157029438606, + 0.7072868560385248, + 0.7067230327658043 + ], + "class": "Toy" + }, + { + "name": "antman", + "xml_path": "obj/meshes/toys/marvel/antman/antman_0/ant-man.xml", + "position": [ + 0.23849114414021516, + -0.1675190384563067, + 0.7617106019002086 + ], + "orientation": [ + 0.004077992337352791, + -0.004287336573075977, + 0.7070958582976119, + 0.707092947144835 + ], + "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": [ + "jessie" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example96/input/input.png b/Semantic/select_toy_semantic/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..90c1c1534b6b98616c7976da3e0e4bf49b6fefe1 --- /dev/null +++ b/Semantic/select_toy_semantic/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5dcf47457b6a3b3ef4ac70b13f7749b73ddf429174dcc915064fbf89aceb52a3 +size 950762 diff --git a/Semantic/select_toy_semantic/example96/input/input_mask.png b/Semantic/select_toy_semantic/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..286344f3384fc72b3742dfcb8635e49a5a81bb21 --- /dev/null +++ b/Semantic/select_toy_semantic/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ef4bf15ce965e3fcf863938c1c4c9772dd5d78702dabc890e3811f0a07c75cd +size 816958 diff --git a/Semantic/select_toy_semantic/example96/input/instruction.txt b/Semantic/select_toy_semantic/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..027d59533cb3ad2235e30f1a746b93532852b537 --- /dev/null +++ b/Semantic/select_toy_semantic/example96/input/instruction.txt @@ -0,0 +1 @@ + For todays game, we need a character known for her leadership and bravery in the wild landscapes, please locate her. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example96/output/operation_sequence.json b/Semantic/select_toy_semantic/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example96/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example97/env_config/env_config.json b/Semantic/select_toy_semantic/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa7074492d5eae902d79653720780518e1d5ad7 --- /dev/null +++ b/Semantic/select_toy_semantic/example97/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.1254826001422475e-09, + -1.6571545110890553e-10, + -7.60102006253987e-07 + ], + "orientation": [ + 1.0, + 1.325517030206463e-10, + 4.997793335231511e-10, + -1.688737607631443e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + -0.26444073014950276, + -0.04623982503462301, + 0.7709991005574586 + ], + "orientation": [ + 0.9999903298416706, + 0.000798034746711104, + -0.00039473056593509434, + 0.004306686832148313 + ], + "class": "CommonContainer" + }, + { + "name": "nami", + "xml_path": "obj/meshes/toys/onepiece/nami/nami_0/nami_one_piece.xml", + "position": [ + 0.2277724851678629, + 0.13300901767859952, + 0.7649988541867926 + ], + "orientation": [ + -1.7824215550190507e-05, + -1.674350604370938e-05, + 0.7073883239209999, + 0.7068251258848898 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_0/woody.xml", + "position": [ + 0.05463010733980315, + -0.1624764926245877, + 0.7649982831889615 + ], + "orientation": [ + -1.1988177310820775e-05, + -1.618026502766449e-05, + 0.7073880500124178, + 0.7068254001478098 + ], + "class": "Toy" + }, + { + "name": "mickey", + "xml_path": "obj/meshes/toys/disney/mickey/mickey/mickey_0/mickey.xml", + "position": [ + -0.08851120758742274, + 0.16335539222433604, + 0.759897677424395 + ], + "orientation": [ + 0.002478818792888709, + 0.0023951395637428746, + 0.7065474318065462, + 0.7076572937315309 + ], + "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": [ + "nami" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example97/input/input.png b/Semantic/select_toy_semantic/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c10289073d661474f80b52b20ec3f398f0643025 --- /dev/null +++ b/Semantic/select_toy_semantic/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a57af210d055e4af05722dd4affd5b71e37028f7948d9c3fc069a1a91a4b5a28 +size 910537 diff --git a/Semantic/select_toy_semantic/example97/input/input_mask.png b/Semantic/select_toy_semantic/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a8feeb80bb83ab0825a69004ac1a18b7ded36cad --- /dev/null +++ b/Semantic/select_toy_semantic/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b423e1b6b426668400159fccd66f4dfd052b2379c06944db7495b72ee186d4e +size 803073 diff --git a/Semantic/select_toy_semantic/example97/input/instruction.txt b/Semantic/select_toy_semantic/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d7a544e9fae913f538f0dc557d9212f0838cd5d --- /dev/null +++ b/Semantic/select_toy_semantic/example97/input/instruction.txt @@ -0,0 +1 @@ + Could you locate the figure of the girl from my favorite anime whos known for drawing maps and loves tangerines? \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example97/output/operation_sequence.json b/Semantic/select_toy_semantic/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example97/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example98/env_config/env_config.json b/Semantic/select_toy_semantic/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..74c01ab9cd5e80588220b96ba7e2f3287f1aab74 --- /dev/null +++ b/Semantic/select_toy_semantic/example98/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1196637195447889e-08, + -6.710402631695155e-11, + -7.634036411921819e-07 + ], + "orientation": [ + 1.0, + 1.1216350482724707e-09, + 7.696632321955926e-11, + -1.7441768621163504e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_0/giftbox.xml", + "position": [ + -0.2677201119568087, + 0.06553298854991843, + 0.7709990971920015 + ], + "orientation": [ + 0.9997794322352238, + 0.0007877982577580465, + -0.0004147860157152737, + -0.020983188649022357 + ], + "class": "CommonContainer" + }, + { + "name": "loki", + "xml_path": "obj/meshes/toys/marvel/loki/loki_0/loki_magic_supremacy.xml", + "position": [ + 0.20898018230026108, + -0.13394722754548463, + 0.7650548850661918 + ], + "orientation": [ + 0.7068260183565741, + 0.7073869534274732, + -0.0005837042755466401, + 0.0005806755630974243 + ], + "class": "Toy" + }, + { + "name": "minnie", + "xml_path": "obj/meshes/toys/disney/mickey/minnie/minnie_1/minnie_mouse.xml", + "position": [ + 0.04506101292380413, + 0.13008050286276487, + 0.764993350887113 + ], + "orientation": [ + 0.7068255977868703, + 0.7073878521493187, + 2.5886977119417587e-05, + -1.6573209892074064e-05 + ], + "class": "Toy" + }, + { + "name": "woody", + "xml_path": "obj/meshes/toys/disney/toystory/woody/woody_1/disney_infinity_woody.xml", + "position": [ + -0.11451798617747694, + -0.15107059875844925, + 0.765913147489023 + ], + "orientation": [ + -0.008302731234732156, + 0.008262949444872707, + 0.7073388987886825, + 0.7067775255205344 + ], + "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": [ + "loki" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example98/input/input.png b/Semantic/select_toy_semantic/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b6313e9665cbde677399e36be7e7b1e3ca4b8c62 --- /dev/null +++ b/Semantic/select_toy_semantic/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bcea35650c36e2aa2e1d545923718e1a47c132ca3e9c44a60248e119c57c2ed +size 950630 diff --git a/Semantic/select_toy_semantic/example98/input/input_mask.png b/Semantic/select_toy_semantic/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..45bfe6ed17094669e9f23788d08676121b98b48d --- /dev/null +++ b/Semantic/select_toy_semantic/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38703a7ff31c1611cd77bad79b43b85a5e5db75b79d53742d2b91f520612510d +size 829114 diff --git a/Semantic/select_toy_semantic/example98/input/instruction.txt b/Semantic/select_toy_semantic/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..b4868a1e2d65fc1054fe22a760d3bc676b0a290c --- /dev/null +++ b/Semantic/select_toy_semantic/example98/input/instruction.txt @@ -0,0 +1 @@ + Let’s create a surprise treasure hunt for the kids with a theme involving gods and mischief. We need the perfect item to hide. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example98/output/operation_sequence.json b/Semantic/select_toy_semantic/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example98/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example99/env_config/env_config.json b/Semantic/select_toy_semantic/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..69448f6c400d1d755312a9c6e0bb8df6cc777026 --- /dev/null +++ b/Semantic/select_toy_semantic/example99/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.750614107591459e-08, + -5.572548988100174e-09, + -7.663640227733947e-07 + ], + "orientation": [ + 1.0, + -6.45261024042861e-11, + -2.1351685886869764e-09, + 4.955607010589734e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "giftbox_seen", + "xml_path": "obj/meshes/containers/boxes/giftbox/giftbox_1/giftbox.xml", + "position": [ + 0.0412051375323905, + -0.05025764488040408, + 0.7709990942255192 + ], + "orientation": [ + 0.9974575778769356, + 0.0008226748111335552, + -0.0003404102137073894, + 0.07125719376259432 + ], + "class": "CommonContainer" + }, + { + "name": "sanji", + "xml_path": "obj/meshes/toys/onepiece/sanji/sanji_0/sanji.xml", + "position": [ + -0.28072669206569884, + 0.16399850848344982, + 0.7660697767409738 + ], + "orientation": [ + -0.005834764588740498, + 0.005323917711618733, + 0.7030952599953962, + 0.7110518031721741 + ], + "class": "Toy" + }, + { + "name": "hawkeye", + "xml_path": "obj/meshes/toys/marvel/hawkeye/hawkeye_0/hawkeye.xml", + "position": [ + -0.24952884542610862, + -0.1400662857200688, + 0.7650204242558 + ], + "orientation": [ + -0.000301247637990425, + 0.0003112150772088236, + 0.70738806022722, + 0.7068252575021682 + ], + "class": "Toy" + }, + { + "name": "chopper", + "xml_path": "obj/meshes/toys/onepiece/chopper/chopper_2/tony_chopper.xml", + "position": [ + 0.22110722816576017, + 0.16152184785129875, + 0.7649985600836009 + ], + "orientation": [ + 0.7068260675627193, + 0.7073873704691935, + -9.764149580388774e-05, + -9.370506795411946e-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": [ + "sanji" + ] + } + } + } +} \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example99/input/input.png b/Semantic/select_toy_semantic/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ccc031fbc6fcc3c802c65073f0620af51eea596e --- /dev/null +++ b/Semantic/select_toy_semantic/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:881adf28592867880c43ab509bc37169f82c1b16c63ea5403779a622c0bc10b0 +size 909382 diff --git a/Semantic/select_toy_semantic/example99/input/input_mask.png b/Semantic/select_toy_semantic/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8700be4eee2f36d539571e469b3c5e64199aeef4 --- /dev/null +++ b/Semantic/select_toy_semantic/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72191f38c4b2634d0718c6fb34bca8d97f95986da384abacaea8162ce78abc69 +size 797383 diff --git a/Semantic/select_toy_semantic/example99/input/instruction.txt b/Semantic/select_toy_semantic/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba290023dbf7e748c7ee4c3d49ad651e5c0e595a --- /dev/null +++ b/Semantic/select_toy_semantic/example99/input/instruction.txt @@ -0,0 +1 @@ + Please find me a character that would be perfect for leading a ship’s crew in my tabletop game. \ No newline at end of file diff --git a/Semantic/select_toy_semantic/example99/output/operation_sequence.json b/Semantic/select_toy_semantic/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..261c00afa49a5f3f5d212b07391f7d6fa35ca4bd --- /dev/null +++ b/Semantic/select_toy_semantic/example99/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "place", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example0/env_config/env_config.json b/Spatial/add_condiment_spatial/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa4a46459ba1757b79e60baaf09a66d01940454 --- /dev/null +++ b/Spatial/add_condiment_spatial/example0/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296775426749477, + 0.0070690520911048296, + 0.004031936539421963 + ], + "orientation": [ + 0.9999351243692884, + 0.010707822464042957, + -0.00024501184351922414, + -0.00387679762830714 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500015044194337, + 1.0691393216371457e-07, + 0.009963149080358275 + ], + "orientation": [ + 0.999999999999918, + -4.0317442881713893e-07, + 4.051681766075856e-08, + -2.1468249199971767e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.17769310055282983, + -0.05267853219960335, + 0.7958199042168914 + ], + "orientation": [ + 0.9999999684053843, + 4.528890581758253e-05, + 9.915970903811247e-06, + 0.00024706237959490156 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.17770792426819215, + -0.022678535985057598, + 0.7958226216981464 + ], + "orientation": [ + 0.9999999684053843, + 4.528890581758253e-05, + 9.915970903811247e-06, + 0.00024706237959490156 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.14084079776001088, + -0.14622466718675406, + 0.804449051221569 + ], + "orientation": [ + 0.9990252173147744, + -0.000515000476308698, + -0.00013134916572098807, + 0.044139921738438795 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.14791275561201137, + -0.007793561959240683, + 0.7972168270839327 + ], + "orientation": [ + 0.9997550992475867, + 0.00046369039032158967, + -0.0007764645484574298, + -0.022111617364508916 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2609318987401802, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.19368725556307562, + 0.16849904304628222, + 0.8247573800309885 + ], + "orientation": [ + 0.9998333475819767, + 0.0013230010054416479, + -0.0006341390454947087, + -0.018196829367477553 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example0/input/input.png b/Spatial/add_condiment_spatial/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1ed82c2e15ccb11aba836586157dfa3a2aebe811 --- /dev/null +++ b/Spatial/add_condiment_spatial/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25343c7290a4eada63f4abdf411437539a7983f9083c5d8ee45d0733a4cd1d8d +size 673703 diff --git a/Spatial/add_condiment_spatial/example0/input/input_mask.png b/Spatial/add_condiment_spatial/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..58694d912dbb96ab094d58e98eb54fe327d274ca --- /dev/null +++ b/Spatial/add_condiment_spatial/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c92a46dcd90426d85bbb2dc7b8166fd9c1164be208907cfef80b582e74606473 +size 557475 diff --git a/Spatial/add_condiment_spatial/example0/input/instruction.txt b/Spatial/add_condiment_spatial/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example0/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example0/output/operation_sequence.json b/Spatial/add_condiment_spatial/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example0/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example1/env_config/env_config.json b/Spatial/add_condiment_spatial/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..271221ab019a3de9703fa7a8b1c6abe50364b470 --- /dev/null +++ b/Spatial/add_condiment_spatial/example1/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530330759347811, + 0.010583758033046288, + 0.003987168065044082 + ], + "orientation": [ + 0.99993542577787, + 0.010944879474879583, + -9.203421483802855e-05, + -0.003057027545614885 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2199999972827534, + 4.80995302917521e-10, + 0.0019833543498234507 + ], + "orientation": [ + 0.9999999999999185, + -4.042886469246745e-07, + 2.544801112189232e-09, + -4.1546100222854274e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.1630101603673466, + -0.06031323269193544, + 0.787441741088144 + ], + "orientation": [ + 0.9999999996912623, + -1.7814080739167924e-05, + 1.375614639606381e-05, + -1.0531088892302197e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.16300952851671646, + -0.030313232717630118, + 0.787440672234608 + ], + "orientation": [ + 0.9999999996912623, + -1.7814080739167924e-05, + 1.375614639606381e-05, + -1.0531088892302197e-05 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.1702705990022271, + -0.15795241132217636, + 0.7972933072364657 + ], + "orientation": [ + 0.9985139924177793, + 4.274223709086503e-05, + -5.2364686734659924e-05, + -0.054495893211759086 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27570392691805545, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.18477142060039967, + 0.011271401991296332, + 0.8248182379403209 + ], + "orientation": [ + 0.9999995210637184, + 9.097545659149224e-05, + -2.6745512833341808e-05, + -0.0009741049622783301 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.21004952362488324, + 0.15988936054436348, + 0.8250322945824355 + ], + "orientation": [ + 0.997355718064452, + 0.008216196112617041, + -0.0121394205437557, + 0.07118075747307992 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example1/input/input.png b/Spatial/add_condiment_spatial/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b62fce4cafd3f2f75499cffc27e90060cc02defd --- /dev/null +++ b/Spatial/add_condiment_spatial/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b550c56b4c8e4cfe6827fa1dbfd6eb6e8b288cddea53d796e2ac2ec0bf5c5e51 +size 695393 diff --git a/Spatial/add_condiment_spatial/example1/input/input_mask.png b/Spatial/add_condiment_spatial/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ab75bf013aa8c2ee923368f170cf729820be9bbf --- /dev/null +++ b/Spatial/add_condiment_spatial/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5697901bb18b73bfc203e06d27166b6ac083bd806ca5b48ac7385279f33b8d71 +size 584474 diff --git a/Spatial/add_condiment_spatial/example1/input/instruction.txt b/Spatial/add_condiment_spatial/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example1/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example1/output/operation_sequence.json b/Spatial/add_condiment_spatial/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example1/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example10/env_config/env_config.json b/Spatial/add_condiment_spatial/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0956c8907e8a2e511ea6281602f9b6d0ad0ae603 --- /dev/null +++ b/Spatial/add_condiment_spatial/example10/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296724913258932, + 0.006993633059921775, + 0.004036264483202721 + ], + "orientation": [ + 0.9999347610109586, + 0.010709337422353672, + -0.0002490865868992206, + -0.003965068700880582 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3939868082251689, + 0.10317255745851442, + 0.0016987094764722634 + ], + "orientation": [ + 0.9999076106381467, + 0.003897980854101121, + 0.00015391807547294404, + 0.013021222768954569 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.18172783473814955, + 0.027584047631618144, + 0.831068062080345 + ], + "orientation": [ + 0.999795225907802, + 0.0018141892475780428, + 0.0004243299864081904, + 0.020150308022541558 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.18293655945494613, + 0.057559488059856376, + 0.8311774041680581 + ], + "orientation": [ + 0.999795225907802, + 0.0018141892475780428, + 0.0004243299864081904, + 0.020150308022541558 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1691499989153187, + -0.16130449015726028, + 0.8234653741520483 + ], + "orientation": [ + 0.9970569564013104, + 0.017543130708593088, + 0.011284814904916446, + -0.07377206252544287 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.14637792297835794, + 0.019641688484859282, + 0.7972093486536708 + ], + "orientation": [ + 0.9976213406964989, + 0.0005694493893063636, + -0.0006159661703087507, + 0.06892718549302355 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25346842190586155, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.1585236189125589, + 0.1679598865600103, + 0.7972079892652273 + ], + "orientation": [ + 0.9997964412582626, + 6.98084558479129e-05, + -0.00020898854155242444, + 0.020174922500070323 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2740928728992591, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.15996490193104024, + 0.2931112202211738, + 0.8246882458324025 + ], + "orientation": [ + 0.9982397390506623, + 0.0004453796905694522, + -0.00020825779835587408, + -0.05930583146441785 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example10/input/input.png b/Spatial/add_condiment_spatial/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cb4bffeb230285b4567fc543d10a2f6c2a0423ce --- /dev/null +++ b/Spatial/add_condiment_spatial/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:897088b6af2c3df277b3b22c628f0b080a02649d143dcf435c1207f77990597f +size 801481 diff --git a/Spatial/add_condiment_spatial/example10/input/input_mask.png b/Spatial/add_condiment_spatial/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e60ebbd5fe446fa79a05cd9aa8fbe07feb802538 --- /dev/null +++ b/Spatial/add_condiment_spatial/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db4d043109f3252478f327ab87032d91484169a2ab548d3f33e7c966f8f6f230 +size 646938 diff --git a/Spatial/add_condiment_spatial/example10/input/instruction.txt b/Spatial/add_condiment_spatial/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example10/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example10/output/operation_sequence.json b/Spatial/add_condiment_spatial/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example10/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example11/env_config/env_config.json b/Spatial/add_condiment_spatial/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fbdb1b429d41e0728fe4bf4d66954891ed488d85 --- /dev/null +++ b/Spatial/add_condiment_spatial/example11/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303507650076913, + 0.010474791201382741, + 0.003991401573601288 + ], + "orientation": [ + 0.9999350974541206, + 0.010940885542265914, + -0.00010182740344548476, + -0.0031760878688762194 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000000006669865, + 1.786754475093309e-08, + 0.001987633955076096 + ], + "orientation": [ + 0.9999999999855571, + -5.374680488499903e-06, + 1.8965878964873425e-09, + -2.780552301684319e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.1639292995563182, + -0.10906417863215555, + 0.8396921044202754 + ], + "orientation": [ + 0.9999999999876559, + -4.944572800643818e-06, + -3.17383180481761e-07, + -3.740913167296984e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.16392927711074504, + -0.07906417863363084, + 0.8396918077459146 + ], + "orientation": [ + 0.9999999999876559, + -4.944572800643818e-06, + -3.17383180481761e-07, + -3.740913167296984e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.147378231231883, + -0.14196805715961694, + 0.7972581685075609 + ], + "orientation": [ + 0.9971027673090419, + 0.002034787597033166, + 0.0009620423537459199, + 0.0760329240434333 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2630499016049783, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.16479546605646506, + 0.011186602340408788, + 0.8250267024138628 + ], + "orientation": [ + 0.99829927985318, + -0.0024326044808775445, + -0.004027516764091349, + -0.05810687901424782 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.14627981285583128, + 0.16970068416129008, + 0.8225569277722349 + ], + "orientation": [ + 0.999927050162606, + 0.0004292868859682116, + -1.894247464446733e-05, + -0.01207102758931458 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example11/input/input.png b/Spatial/add_condiment_spatial/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b629307595f11cfc9bafded167ba1f1ac2434298 --- /dev/null +++ b/Spatial/add_condiment_spatial/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00e0190f327b83b66028a8207ee658baeb35e51a1756993214b0c7a8a9a4c711 +size 888411 diff --git a/Spatial/add_condiment_spatial/example11/input/input_mask.png b/Spatial/add_condiment_spatial/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4a510d7ee4fa6b286c340e8b0a6895d5ac3bb357 --- /dev/null +++ b/Spatial/add_condiment_spatial/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc16cb4175a758745ef483a53e685dd29047ac2f4f1b92484080aa660a6c7be0 +size 768508 diff --git a/Spatial/add_condiment_spatial/example11/input/instruction.txt b/Spatial/add_condiment_spatial/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example11/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example11/output/operation_sequence.json b/Spatial/add_condiment_spatial/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example11/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example12/env_config/env_config.json b/Spatial/add_condiment_spatial/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c22f696ae2027e63f8e96221d7e80080e57e84 --- /dev/null +++ b/Spatial/add_condiment_spatial/example12/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530000038373413, + -0.00013981888284149958, + 0.004124509221207867 + ], + "orientation": [ + 0.9999408956540233, + 0.010872221421021249, + 8.388174744050287e-10, + -4.221340631074237e-08 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000025890334, + 1.2154265080795666e-09, + 0.0019833447991679824 + ], + "orientation": [ + 0.9999999999999232, + -3.9272042912536994e-07, + 2.08796911989499e-08, + 2.518923954565933e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.11101579176482378, + -0.10249262020920967, + 0.7730773022057521 + ], + "orientation": [ + 0.999999999446408, + -3.3226862247846206e-05, + -1.034873951067667e-06, + 1.4449564237943201e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.11101587846014602, + -0.07249262027557643, + 0.7730753085939286 + ], + "orientation": [ + 0.999999999446408, + -3.3226862247846206e-05, + -1.034873951067667e-06, + 1.4449564237943201e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16392456082556786, + -0.15569998577507282, + 0.8231982929611718 + ], + "orientation": [ + 0.9970148097983442, + -0.014566471172445701, + -0.0010796059613392755, + 0.07581636638167767 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17762661517991538, + 0.01846504889349303, + 0.8248252179067427 + ], + "orientation": [ + 0.9987225314471441, + -0.002646784494242674, + -0.005395926274924951, + 0.05017154264406472 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.18018758975751697, + 0.14590828033257666, + 0.8237850333755123 + ], + "orientation": [ + 0.9984662205165646, + -0.026319143454666558, + -0.007560656088627651, + 0.04811803876603307 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example12/input/input.png b/Spatial/add_condiment_spatial/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..78fa0109ad1be9d2a6a1d43d8f7f87ad73056542 --- /dev/null +++ b/Spatial/add_condiment_spatial/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:212b43cfd2c2bcdf48c6ee37df176d6eab824f32faf7de064fe75bc5541dd54d +size 705741 diff --git a/Spatial/add_condiment_spatial/example12/input/input_mask.png b/Spatial/add_condiment_spatial/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..61114525ee053552567f36d53b5afafa45946082 --- /dev/null +++ b/Spatial/add_condiment_spatial/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31c5141d06f854307009f794e2391c1cc3ee69e90f9090b3c80a58ec5e8df9a1 +size 598368 diff --git a/Spatial/add_condiment_spatial/example12/input/instruction.txt b/Spatial/add_condiment_spatial/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example12/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example12/output/operation_sequence.json b/Spatial/add_condiment_spatial/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example12/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example13/env_config/env_config.json b/Spatial/add_condiment_spatial/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e4076bac96739b79711414c0860cd7d7831b6773 --- /dev/null +++ b/Spatial/add_condiment_spatial/example13/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5457201884023254, + 0.019028420974790714, + 0.004867380342789955 + ], + "orientation": [ + 0.9994167965476386, + 0.00895156651056017, + -0.00035721361594542975, + -0.032951610490153015 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.34942223038855913, + 0.13329861682264596, + 0.00789174879901155 + ], + "orientation": [ + 0.9993133433365525, + 0.016285908273190073, + -0.0007733330586899139, + -0.033271804538068626 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.09440784160260669, + -0.004569098584748177, + 0.8403051065241319 + ], + "orientation": [ + 0.9976243239415598, + 0.016714614857194887, + 0.0001128203485594186, + -0.06683051101023293 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.09040742385577108, + 0.02514615968214898, + 0.8413051485144503 + ], + "orientation": [ + 0.9976243239415598, + 0.016714614857194887, + 0.0001128203485594186, + -0.06683051101023293 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1741602006791819, + -0.14627221162809478, + 0.8319269823761167 + ], + "orientation": [ + 0.9885424995875068, + 0.10065944608799664, + 0.0667104360823239, + -0.09056003611001534 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1739896117762702, + -0.007787810518237206, + 0.8259779696798267 + ], + "orientation": [ + 0.9761328418620849, + 0.16076206778778726, + -0.005494853833769325, + -0.14591106599634956 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.20062650477862473, + 0.15176049348726556, + 0.8262369746391386 + ], + "orientation": [ + 0.992476309589993, + 0.027587476343852852, + -0.10481472256554182, + 0.05695243616487685 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example13/input/input.png b/Spatial/add_condiment_spatial/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..77d1c555fb6be2d789dba48ffbc47f7b983cc0e0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:956e5bdbfba8faf9344d2526ad0b07a4a76833c39a2df457221e5696d0d591fd +size 803401 diff --git a/Spatial/add_condiment_spatial/example13/input/input_mask.png b/Spatial/add_condiment_spatial/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a829a8327d383c70741801d474e15851e18edfe --- /dev/null +++ b/Spatial/add_condiment_spatial/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15d783faf8f07891d394cf292ce207de301973123d2496a750ebdbd20e9f22e8 +size 650453 diff --git a/Spatial/add_condiment_spatial/example13/input/instruction.txt b/Spatial/add_condiment_spatial/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example13/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example13/output/operation_sequence.json b/Spatial/add_condiment_spatial/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example13/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example14/env_config/env_config.json b/Spatial/add_condiment_spatial/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecd2f20256c5cb11e21d8159335956cda69780e --- /dev/null +++ b/Spatial/add_condiment_spatial/example14/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5300000455816896, + -0.0001398260138489341, + 0.004124509183521589 + ], + "orientation": [ + 0.9999408959215088, + 0.010872196819793237, + -2.4461724627779533e-08, + -4.440039468864689e-08 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2499999999717782, + 1.9187717540233046e-08, + 0.0019876375316049823 + ], + "orientation": [ + 0.9999999999855543, + -5.375157166526215e-06, + 8.496236961037668e-10, + 2.4686929162859443e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.10113560261810627, + -0.11588471045576386, + 0.8134722465993875 + ], + "orientation": [ + 0.999999999003975, + -1.1685362306505116e-05, + -4.273829267506303e-05, + 5.3796604740606974e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.10113592536776964, + -0.08588471046569317, + 0.8134715454638548 + ], + "orientation": [ + 0.999999999003975, + -1.1685362306505116e-05, + -4.273829267506303e-05, + 5.3796604740606974e-06 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.2148886244977207, + -0.14363213223285717, + 0.8253361426801322 + ], + "orientation": [ + 0.999461840723396, + -0.012453678198414267, + -0.002058050896115122, + -0.03027704185750891 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.13982810822422193, + 0.013692411775246788, + 0.8046475988012852 + ], + "orientation": [ + 0.9987054458280303, + 0.00010522690912627455, + -0.0001608478177729627, + -0.050866447966335736 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.13590208059906936, + 0.14213306374921342, + 0.8231307141238606 + ], + "orientation": [ + 0.9998160081184568, + -0.012216410034740798, + -0.00034055050661612943, + 0.014784899772688858 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example14/input/input.png b/Spatial/add_condiment_spatial/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b5b2511dcb85a901ec4d9b79b8db533951e50925 --- /dev/null +++ b/Spatial/add_condiment_spatial/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:267275961f27030eea73ff7d9598ca6c9eca3460cc1c8c83bcca2f7b5e28dcee +size 860043 diff --git a/Spatial/add_condiment_spatial/example14/input/input_mask.png b/Spatial/add_condiment_spatial/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..58b42091255f91a7643df220f3e50e62756739f9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99107ddaa8aa4fdf684491643aef8e43672b3212c7b1c3e5d4faf6ea4119658b +size 735584 diff --git a/Spatial/add_condiment_spatial/example14/input/instruction.txt b/Spatial/add_condiment_spatial/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example14/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example14/output/operation_sequence.json b/Spatial/add_condiment_spatial/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example14/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example15/env_config/env_config.json b/Spatial/add_condiment_spatial/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d1938df90e87b83f0d7eee37bf56619405c672cb --- /dev/null +++ b/Spatial/add_condiment_spatial/example15/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5299998913649194, + -0.00013987210390902654, + 0.004124510027431367 + ], + "orientation": [ + 0.9999408957598604, + 0.010872211687024645, + -5.2192256080993235e-09, + -4.3649737279694504e-08 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999761459188, + 8.645491982520461e-09, + 0.009963177126395648 + ], + "orientation": [ + 0.9999999999999069, + -4.3284174598599477e-07, + 1.7395838552527606e-09, + -5.562302955476918e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.14858003213129403, + -0.004660841206129796, + 0.8044799528321732 + ], + "orientation": [ + 0.9999999989787772, + 3.108096910983249e-05, + 4.026753134737353e-06, + -3.256079680548389e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.14857807847597837, + 0.025339158672296316, + 0.8044818176824511 + ], + "orientation": [ + 0.9999999989787772, + 3.108096910983249e-05, + 4.026753134737353e-06, + -3.256079680548389e-05 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1686058704788491, + -0.1524028928570994, + 0.8248280583005843 + ], + "orientation": [ + 0.9994471164700668, + -0.002831413045345731, + -0.005268925084566596, + 0.032706007220224785 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml", + "position": [ + 0.17934780135496045, + 0.01393060433726724, + 0.8303743711888014 + ], + "orientation": [ + 0.9998982426480181, + -0.013388409367781639, + 0.0006311626791792258, + -0.004884309334723698 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16607726056291428, + 0.1314445530938852, + 0.8251523596956344 + ], + "orientation": [ + 0.9999597079093709, + 0.003252983730058145, + 0.00033722037850615036, + 0.008359840732591831 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example15/input/input.png b/Spatial/add_condiment_spatial/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..39cf8d889ccb372236ec54b2337ec85d701a9d2e --- /dev/null +++ b/Spatial/add_condiment_spatial/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f51a4e833f47d7f4c2dd5e11e47e13f087b43054c52107119533b2288777f98 +size 720670 diff --git a/Spatial/add_condiment_spatial/example15/input/input_mask.png b/Spatial/add_condiment_spatial/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5f3205d8762a9d93d520ead9048cc957d9c16198 --- /dev/null +++ b/Spatial/add_condiment_spatial/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cc93e1202bc16c82cc4f40c976efb7cb1373f9a2d0d38be7fe049ca18b2a5a4 +size 584260 diff --git a/Spatial/add_condiment_spatial/example15/input/instruction.txt b/Spatial/add_condiment_spatial/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example15/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example15/output/operation_sequence.json b/Spatial/add_condiment_spatial/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example15/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example16/env_config/env_config.json b/Spatial/add_condiment_spatial/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8ec2195294e6b252ed73879891f2aa08d61c09f2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example16/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303957421016048, + 0.010398355543043587, + 0.0039968634630562225 + ], + "orientation": [ + 0.9999348352798874, + 0.010935857134347943, + -0.00011374971467853255, + -0.0032740316927416723 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.21999999999009892, + -5.7691482634018e-09, + -0.010077919042442563 + ], + "orientation": [ + 0.9999999999998457, + -5.564222432458309e-07, + 7.200901060161406e-10, + -5.796301632139635e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.18075876364740845, + -0.11891882050024423, + 0.7420771442300543 + ], + "orientation": [ + 0.9999999985610684, + 5.338137601214777e-05, + -5.318933928226186e-06, + -3.1140687939166696e-08 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1807587617960031, + -0.08891882067121856, + 0.7420803471126204 + ], + "orientation": [ + 0.9999999985610684, + 5.338137601214777e-05, + -5.318933928226186e-06, + -3.1140687939166696e-08 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15046961592890035, + -0.14898062198765805, + 0.7972549064782861 + ], + "orientation": [ + 0.9991047579398803, + 0.0019147468813062467, + 0.0007674104738155419, + 0.042254319157199904 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25062147136391993, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.15601070871451878, + 0.017099879989279736, + 0.8044552691775319 + ], + "orientation": [ + 0.9996725754030986, + 2.5148938805129593e-05, + -2.281644621560064e-05, + -0.025587904054012952 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17302863152022294, + 0.14236473815567294, + 0.8250145681491097 + ], + "orientation": [ + 0.9998315843572008, + 0.0075562185531123875, + -0.012132751912835573, + 0.011510986663542978 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example16/input/input.png b/Spatial/add_condiment_spatial/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1fffc4d6ec2aabb710de39158b2624da96556c8b --- /dev/null +++ b/Spatial/add_condiment_spatial/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e601540c36ec48f76ab613e23f1e8bac1fcda003b2428ff9f4803a6aacc879c0 +size 674047 diff --git a/Spatial/add_condiment_spatial/example16/input/input_mask.png b/Spatial/add_condiment_spatial/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..965f044c3096086119e28c11694908106561a454 --- /dev/null +++ b/Spatial/add_condiment_spatial/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bea755902dda5fb44e4aeda70d1d724e385aa93cdaad50c535d9862f6bfd1ef +size 590440 diff --git a/Spatial/add_condiment_spatial/example16/input/instruction.txt b/Spatial/add_condiment_spatial/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example16/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example16/output/operation_sequence.json b/Spatial/add_condiment_spatial/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example16/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example17/env_config/env_config.json b/Spatial/add_condiment_spatial/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ae528c4a5cd09e16a24057c0286abd97cb890d68 --- /dev/null +++ b/Spatial/add_condiment_spatial/example17/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294846084186794, + 0.0036384680276217362, + 0.004452083402039957 + ], + "orientation": [ + 0.9999496411804132, + 0.009721097596995893, + -0.00038843385189710574, + -0.0024626172695122587 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2200000001971513, + -3.361991348454973e-09, + -0.01007799073309987 + ], + "orientation": [ + 0.9999999999998811, + -4.87862350683857e-07, + 1.1013497349518693e-08, + -2.8874569704319535e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.18638306190737228, + -0.14001353770600772, + 0.7579479794346532 + ], + "orientation": [ + 0.9999999997634441, + 2.159660185069791e-05, + -2.5860196563816917e-06, + 1.1143699412142155e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.18638306859694287, + -0.11001353773399322, + 0.7579492752307466 + ], + "orientation": [ + 0.9999999997634441, + 2.159660185069791e-05, + -2.5860196563816917e-06, + 1.1143699412142155e-07 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16018846580003468, + -0.15605628128585525, + 0.8255279773238561 + ], + "orientation": [ + 0.9973634213372905, + -0.003173477317054385, + -7.947042691043475e-05, + -0.07249916209545884 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_9/model.xml", + "position": [ + 0.19791314866750018, + 0.018740038254537277, + 0.8251270684061445 + ], + "orientation": [ + 0.9999449271659612, + -0.00275846197946626, + -0.0004836812950077327, + -0.01011432523570367 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17600464457255138, + 0.15721280656560127, + 0.7971808976124323 + ], + "orientation": [ + 0.999959689730554, + -0.0005923298256188047, + -0.0009845465644295357, + 0.008904983291013727 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.266945479060813, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example17/input/input.png b/Spatial/add_condiment_spatial/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..daccfc4a199f8d377e669b06a867fc6fa72acd33 --- /dev/null +++ b/Spatial/add_condiment_spatial/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1f332949b15b011987ad1b724fa5ea162ca8cd7fecc74330a24304bdcf1f54c +size 675622 diff --git a/Spatial/add_condiment_spatial/example17/input/input_mask.png b/Spatial/add_condiment_spatial/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d71bd2d07b14470b161f930919285a8a062e5929 --- /dev/null +++ b/Spatial/add_condiment_spatial/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9cbf89a46fae9cf1f3944e0ea5c77a1a25253cc3c5a75c9a151851287a3162e +size 576477 diff --git a/Spatial/add_condiment_spatial/example17/input/instruction.txt b/Spatial/add_condiment_spatial/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example17/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example17/output/operation_sequence.json b/Spatial/add_condiment_spatial/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example17/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example18/env_config/env_config.json b/Spatial/add_condiment_spatial/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f1dc38f99fda929552f5bc70d0843fbc500cc9a1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example18/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296848112226575, + 0.007164251379299205, + 0.004024869363356192 + ], + "orientation": [ + 0.9999354083343113, + 0.010709496313786478, + -0.0002364506998084285, + -0.0037986759619386425 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.39397735925314803, + 0.10310394778224896, + 0.0016632502430041329 + ], + "orientation": [ + 0.9999075498435259, + 0.003792807995167549, + 0.00015898877417992686, + 0.013056840965428642 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.17622192679593743, + -0.01840161467927519, + 0.8998733372234629 + ], + "orientation": [ + 0.9999209442322435, + -0.012222663486091257, + -9.254871207165188e-05, + 0.002950121648483346 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.17639885222989268, + 0.011588899517498724, + 0.8991400190088226 + ], + "orientation": [ + 0.9999209442322435, + -0.012222663486091257, + -9.254871207165188e-05, + 0.002950121648483346 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1943849399634239, + -0.15491611303284206, + 0.8044802040531797 + ], + "orientation": [ + 0.9974652698235091, + -0.0008261768461782153, + -0.00045742358305013057, + 0.07114874342810865 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15757628577364402, + 0.0030193410741689067, + 0.7972159766057219 + ], + "orientation": [ + 0.9993690830915516, + 0.000509940774377311, + -0.0007301348925144415, + -0.03550552948762273 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27062345400100485, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_9/model.xml", + "position": [ + 0.1428190132406021, + 0.1369715874655449, + 0.824817713375057 + ], + "orientation": [ + 0.9976531767934228, + -0.0024144157266518785, + -0.0006196438961997376, + 0.0684245969818855 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.16715487221548397, + 0.2847117724589386, + 0.7971299644288113 + ], + "orientation": [ + 0.9990628934083199, + 0.0017799032711093008, + 0.0005432897529041308, + -0.04324201423600523 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28143392458377064, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example18/input/input.png b/Spatial/add_condiment_spatial/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d655a0244fac8773910b2e68917d553a8409a944 --- /dev/null +++ b/Spatial/add_condiment_spatial/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4922553925f3c908a61854647de5551e3ba4e97dfdd40c7d9f75ba310c38db0 +size 773997 diff --git a/Spatial/add_condiment_spatial/example18/input/input_mask.png b/Spatial/add_condiment_spatial/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6eed996507c4d77d87e8360386f9a7f91d507ec0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cdbbf59bf2b55d9558b180433dc2cf25dd72a948ff6160305a22acd773893a2 +size 637774 diff --git a/Spatial/add_condiment_spatial/example18/input/instruction.txt b/Spatial/add_condiment_spatial/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example18/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example18/output/operation_sequence.json b/Spatial/add_condiment_spatial/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example18/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example19/env_config/env_config.json b/Spatial/add_condiment_spatial/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fb7ad24c1ed30af5ade108e12bef49ba25d92a6b --- /dev/null +++ b/Spatial/add_condiment_spatial/example19/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296941557415116, + 0.007271450949133568, + 0.0040181408885093224 + ], + "orientation": [ + 0.999935843848336, + 0.010709154149012532, + -0.000228667624116327, + -0.0036837366691222654 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3939750259014764, + 0.1030724486820732, + 0.0016656813863614888 + ], + "orientation": [ + 0.9999070922080642, + 0.0037994976520719743, + 0.00015772496840186094, + 0.013089915677359787 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.17115005311805695, + 0.04214404737643726, + 0.8518889586874697 + ], + "orientation": [ + 0.9999310323090262, + 0.0015671553510751667, + 0.008417083547602717, + -0.008039114009947702 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1706669480911566, + 0.07214002237663975, + 0.8519789215698929 + ], + "orientation": [ + 0.9999310323090262, + 0.0015671553510751667, + 0.008417083547602717, + -0.008039114009947702 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.19117923275895476, + -0.15744767745563057, + 0.8248187951326207 + ], + "orientation": [ + 0.9976728058581302, + -0.0001639461256913606, + -0.00016811042171913283, + -0.06818296936714606 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.16455223781013062, + 0.019846657830315993, + 0.79721141437996 + ], + "orientation": [ + 0.9994979884866659, + 0.0005702670679147398, + -0.0006612492080497004, + -0.031670310324741185 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28158985786375407, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18510665167447546, + 0.1475977478450801, + 0.8229430625724629 + ], + "orientation": [ + 0.9997053397045081, + 0.0153399987756309, + -0.0008017947710203015, + -0.018795619941944036 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.14014612516573005, + 0.31341963370558357, + 0.8299570267391321 + ], + "orientation": [ + 0.9994990053960257, + 0.01121348418785517, + 0.0024195513795590854, + -0.029498165296269648 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example19/input/input.png b/Spatial/add_condiment_spatial/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..dc308df5d6e618f997612f3d800e003bc9cdec32 --- /dev/null +++ b/Spatial/add_condiment_spatial/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b0f9f8053c4c97734e558d296d38de9b8eba03067033e54ab6538e6eac22d0 +size 818853 diff --git a/Spatial/add_condiment_spatial/example19/input/input_mask.png b/Spatial/add_condiment_spatial/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b57d691d1259cdef84cae04069de5a546894ef03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f5e5b54dd760c7c2198ef1eeb3e6109ae45097fc2083944d0c4990d03be393f +size 678685 diff --git a/Spatial/add_condiment_spatial/example19/input/instruction.txt b/Spatial/add_condiment_spatial/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example19/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example19/output/operation_sequence.json b/Spatial/add_condiment_spatial/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example19/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example2/env_config/env_config.json b/Spatial/add_condiment_spatial/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4bf2a0fc892a131c949fef019f219dc50f9836 --- /dev/null +++ b/Spatial/add_condiment_spatial/example2/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303484930918083, + 0.010583537616307915, + 0.003972179763046454 + ], + "orientation": [ + 0.9999366181482788, + 0.010871575662706455, + -0.0001204289319500903, + -0.0029247265966224137 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000088255541, + 9.961229678678883e-09, + 0.009963195544406866 + ], + "orientation": [ + 0.9999999999999094, + -4.2580120714814987e-07, + 2.9528593859823292e-09, + -3.0865812443602533e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.16204311685923783, + -0.1420844241377916, + 0.7934447024878732 + ], + "orientation": [ + 0.99999999969943, + -2.0788323578786326e-05, + 1.1538031756221876e-05, + 5.988348475837779e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.16204347617453765, + -0.11208442416587246, + 0.7934434551926045 + ], + "orientation": [ + 0.99999999969943, + -2.0788323578786326e-05, + 1.1538031756221876e-05, + 5.988348475837779e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.17679647464927092, + -0.16225613397147148, + 0.7972828216401777 + ], + "orientation": [ + 0.9999437809107595, + -2.2780623668919557e-05, + -8.300908338046294e-05, + -0.010603188597281217 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2846755130715719, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.18668542851707146, + -0.007348919514429929, + 0.8245604369948143 + ], + "orientation": [ + 0.999909116632681, + 0.003675352262468814, + 0.005603852756334551, + -0.011698166304357336 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16037956131921163, + 0.1688227284562994, + 0.8247782839858365 + ], + "orientation": [ + 0.9977591096739943, + 3.1726169606859853e-06, + -7.822865088941257e-05, + 0.06690854155315987 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.19476130662778265, + 0.28774870290754595, + 0.7972494372611808 + ], + "orientation": [ + 0.9999020937626454, + 0.0016632709882552187, + 0.000475073802072094, + 0.013885630111044754 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29207614484531047, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example2/input/input.png b/Spatial/add_condiment_spatial/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..acce5a14825136c9be7617dc237ee31f09ea1fff --- /dev/null +++ b/Spatial/add_condiment_spatial/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f012e7026cc6ed0b481bbd169286f2ee372129820f818587acda6d9252f5fb5 +size 672280 diff --git a/Spatial/add_condiment_spatial/example2/input/input_mask.png b/Spatial/add_condiment_spatial/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3d6ee79f8bc42fe90b726bfebf40be336e2f9f80 --- /dev/null +++ b/Spatial/add_condiment_spatial/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6637a228f2da71ad5300a39beedb41fd30d8ee21ad40f231651a0a851f487a4 +size 590780 diff --git a/Spatial/add_condiment_spatial/example2/input/instruction.txt b/Spatial/add_condiment_spatial/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example2/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example2/output/operation_sequence.json b/Spatial/add_condiment_spatial/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example2/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example20/env_config/env_config.json b/Spatial/add_condiment_spatial/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94c86a6f906c31999114657831f9c014f977580d --- /dev/null +++ b/Spatial/add_condiment_spatial/example20/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530312807489958, + 0.010742902468616387, + 0.003968684840602765 + ], + "orientation": [ + 0.999936590806604, + 0.0109085935241188, + -9.991052612071718e-05, + -0.0027940957889994265 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.21999999994715538, + 1.1832779838318614e-09, + 0.0019833427942492266 + ], + "orientation": [ + 0.999999999999921, + -3.9572528626159597e-07, + 1.1013158181886351e-08, + 5.727098671337267e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.16901190383319376, + -0.06582584091977786, + 0.7785459029819918 + ], + "orientation": [ + 0.9999999999132272, + 1.2212690271980516e-05, + 4.58478550521123e-06, + 1.8372419731049561e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16901201406435257, + -0.035825840928929376, + 0.7785466357439135 + ], + "orientation": [ + 0.9999999999132272, + 1.2212690271980516e-05, + 4.58478550521123e-06, + 1.8372419731049561e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.19185794691283012, + -0.15832678194280306, + 0.7972464027465614 + ], + "orientation": [ + 0.9981868845764497, + 0.00162524656278097, + 0.0005149118119721914, + 0.06016674246623473 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29926413321384604, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.19465849564891793, + -0.014711882259783121, + 0.7972571520341694 + ], + "orientation": [ + 0.9978434058153829, + 0.0016824663177317318, + 0.00030392892743727766, + -0.06561718071552076 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2932482485185406, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17917270644244482, + 0.13810168100789605, + 0.8044504975189708 + ], + "orientation": [ + 0.9972598750388558, + 0.00015491800919357058, + 5.114016557782072e-05, + -0.07397780087688739 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example20/input/input.png b/Spatial/add_condiment_spatial/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..73fac931842d00dcdd4aa5e8f0fda4a26a717ac3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:611bd11b9b8ea1b32ffa19d5c1cd4d111cb0b1d27615534d137713568b0de378 +size 702046 diff --git a/Spatial/add_condiment_spatial/example20/input/input_mask.png b/Spatial/add_condiment_spatial/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c3dfc21c43b99da4d98b49b612c54061f5aa0db3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:418ebb4784bcdfb5f3f1e7925310ea97e9e3a1ce79c3207ad05e072ba20e4939 +size 587517 diff --git a/Spatial/add_condiment_spatial/example20/input/instruction.txt b/Spatial/add_condiment_spatial/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example20/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example20/output/operation_sequence.json b/Spatial/add_condiment_spatial/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example20/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example21/env_config/env_config.json b/Spatial/add_condiment_spatial/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..34d5fe0a493d89d4418355591bdcf9f842832ca5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example21/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303618269301089, + 0.010457510560865812, + 0.003991496365203598 + ], + "orientation": [ + 0.9999349159598951, + 0.010941439002696696, + -0.00010177208684631207, + -0.003230851168212537 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.38905112069814257, + 0.10913528807299243, + 0.0024413935745682 + ], + "orientation": [ + 0.9999467346213063, + 0.00527434604032945, + -2.566695253965568e-05, + 0.008871783092592626 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.1527092448984467, + -0.10001982725082534, + 0.8390974703756512 + ], + "orientation": [ + 0.9999126154726679, + 0.005718549955757309, + 0.00033353304815588304, + 0.011914208354698311 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.15342392049315678, + -0.07003030626128424, + 0.8394407918171632 + ], + "orientation": [ + 0.9999126154726679, + 0.005718549955757309, + 0.00033353304815588304, + 0.011914208354698311 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15350233820269635, + -0.16664095829278538, + 0.7972535601227327 + ], + "orientation": [ + 0.9996832831683432, + 0.0017708238093465621, + 0.0004445204848757701, + -0.025099799567694602 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2611236101618568, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.16473863631744806, + -0.0014257920557983975, + 0.8323582551957391 + ], + "orientation": [ + 0.9991692142664838, + 0.00010084594148248885, + -0.0016903359886206166, + -0.04071871629162148 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1951872342006541, + 0.14129550350856138, + 0.8044846156072882 + ], + "orientation": [ + 0.9977728275587037, + 0.00020079884591433708, + 1.0101797961538638e-05, + -0.06670340443549896 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.197504205783336, + 0.31536584417592134, + 0.8225873753331918 + ], + "orientation": [ + 0.9976687892731148, + 0.0003723637080605317, + -1.4218716720893687e-05, + -0.06824110237542438 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example21/input/input.png b/Spatial/add_condiment_spatial/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6a2cec56eb3c91720ab0cd337c7b716e799fe455 --- /dev/null +++ b/Spatial/add_condiment_spatial/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe9c9fdf9fea5b85c597ce956f3508a442672412efa0912147dc9c36aeea49a8 +size 797690 diff --git a/Spatial/add_condiment_spatial/example21/input/input_mask.png b/Spatial/add_condiment_spatial/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d9cc33f23cdc5a0a6508e9a13aa0138318574232 --- /dev/null +++ b/Spatial/add_condiment_spatial/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56d38527da3ac75dc4d59488903d3ce6ea1259c5edf1a83cc41f283e1de33ac1 +size 683197 diff --git a/Spatial/add_condiment_spatial/example21/input/instruction.txt b/Spatial/add_condiment_spatial/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example21/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example21/output/operation_sequence.json b/Spatial/add_condiment_spatial/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example21/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example22/env_config/env_config.json b/Spatial/add_condiment_spatial/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..35d6cc20399e24cf2aebe6741d5c7e6f856e5809 --- /dev/null +++ b/Spatial/add_condiment_spatial/example22/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530341670910836, + 0.01060336604190253, + 0.003970311905852976 + ], + "orientation": [ + 0.999936581840076, + 0.010878073338646961, + -0.00011654237972955379, + -0.002913114535603344 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000002185674336, + 7.680772163147696e-08, + 0.001987617125497326 + ], + "orientation": [ + 0.9999999999856327, + -5.36040041401911e-06, + 3.388282374085982e-09, + 3.793867253242639e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.1330603601329576, + -0.16930328967163838, + 0.8244963922028542 + ], + "orientation": [ + 0.9999072720599123, + 0.00031931139942702517, + 0.0003041435831259985, + -0.013610761132914349 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.13224378436386253, + -0.13931441095834157, + 0.8245153007327349 + ], + "orientation": [ + 0.9999072720599123, + 0.00031931139942702517, + 0.0003041435831259985, + -0.013610761132914349 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.18955965838667543, + -0.16746010069660766, + 0.7972505921195033 + ], + "orientation": [ + 0.998568754681255, + 0.0020672360939723296, + 0.0009385184048540361, + 0.05343489395949761 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2860644299628624, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17191954320128078, + -0.015733471023917412, + 0.8044246331224733 + ], + "orientation": [ + 0.9998359750049007, + 4.918403285074322e-05, + -5.038403458888836e-05, + 0.018111270755473946 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.19305186422286863, + 0.15394933646986517, + 0.7972553921087788 + ], + "orientation": [ + 0.9978589589863761, + 0.002053069740817992, + 0.0009571571549357367, + 0.0653633438973693 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.296382339322503, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.1663686330152777, + 0.31545439683331156, + 0.8247266190140118 + ], + "orientation": [ + 0.9981755728888629, + 0.0030350558938688024, + 0.000538819402573609, + -0.06029945105356842 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example22/input/input.png b/Spatial/add_condiment_spatial/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..808e8143365428406d91540852724c74fda09c86 --- /dev/null +++ b/Spatial/add_condiment_spatial/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4c6fa484b43366331a5eb0ecbe792e37ae9b2b7926c86ec68104b37b19052c8 +size 867108 diff --git a/Spatial/add_condiment_spatial/example22/input/input_mask.png b/Spatial/add_condiment_spatial/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e145d8730306b43a649306b082b931877faff6fe --- /dev/null +++ b/Spatial/add_condiment_spatial/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:078e00c878d5e21b65d1a243146a00e391d96d164abdd4d7b3c2eb2a1681eba2 +size 745469 diff --git a/Spatial/add_condiment_spatial/example22/input/instruction.txt b/Spatial/add_condiment_spatial/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example22/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example22/output/operation_sequence.json b/Spatial/add_condiment_spatial/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example22/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example23/env_config/env_config.json b/Spatial/add_condiment_spatial/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b8321040855653b61c1b703355c3b2490e3b2716 --- /dev/null +++ b/Spatial/add_condiment_spatial/example23/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303003407856397, + 0.010738624708986767, + 0.003981578640210573 + ], + "orientation": [ + 0.9999359065748756, + 0.010950665581555254, + -7.738208345268176e-05, + -0.002873965486221351 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.24999999837398376, + 2.8872930033527454e-08, + 0.0019876231115928517 + ], + "orientation": [ + 0.9999999999855836, + -5.369797703055318e-06, + 4.538274057030146e-09, + -3.48958370090762e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.11552853761794887, + -0.11124001063337682, + 0.8282022619407836 + ], + "orientation": [ + 0.9999999999876583, + -4.896383518064006e-06, + -2.053729774564952e-07, + 8.164848228026338e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1155285866069779, + -0.0812400106348553, + 0.8282019681577625 + ], + "orientation": [ + 0.9999999999876583, + -4.896383518064006e-06, + -2.053729774564952e-07, + 8.164848228026338e-07 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.19303318620675528, + -0.16633962778071645, + 0.7972928580985271 + ], + "orientation": [ + 0.9990533937364234, + 7.12469180930501e-05, + -9.484121160783922e-05, + 0.04350060221141317 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2942707186791731, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16565648753868434, + -0.01542797575701781, + 0.822540582849062 + ], + "orientation": [ + 0.9985531255601973, + 0.0003579668738030178, + -5.010164410533653e-05, + -0.05377290008454011 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.18991053810292824, + 0.1565401127892566, + 0.8248002402785816 + ], + "orientation": [ + 0.9995238226916816, + 0.002684276996403903, + 0.0011032266702575677, + 0.030719788731824852 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.16479000617464104, + 0.2847316445973694, + 0.8246654348029161 + ], + "orientation": [ + 0.9990248902208313, + -0.0019191009474361085, + 0.0022999003023272567, + 0.044048793733878495 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example23/input/input.png b/Spatial/add_condiment_spatial/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..412cc72bc32169d3f13195cc33ab54c97f5908b8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c31f3d7afe8b9f1cf150760273f936a2e82e5685cac912de41a4c4dac8c7f1a +size 877328 diff --git a/Spatial/add_condiment_spatial/example23/input/input_mask.png b/Spatial/add_condiment_spatial/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0fc6fdd108c5614840f4bcf3b3f45737574267c3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf9e71b8f98fd2ca23cf2c719dad33163bb6f2114414d855d9161d08e4a1b0e8 +size 744059 diff --git a/Spatial/add_condiment_spatial/example23/input/instruction.txt b/Spatial/add_condiment_spatial/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example23/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example23/output/operation_sequence.json b/Spatial/add_condiment_spatial/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example23/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example24/env_config/env_config.json b/Spatial/add_condiment_spatial/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..667ee442f4a2f845538d4a800273ce59dfde4be4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example24/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5302976799822937, + 0.010751619722563794, + 0.003981143811587636 + ], + "orientation": [ + 0.9999359469057084, + 0.010951192217254687, + -7.61109811974453e-05, + -0.0028579156607079874 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.2150000246109124, + 2.6423559418474554e-08, + 0.00996316367723946 + ], + "orientation": [ + 0.9999999999999111, + -4.1994430618202827e-07, + 1.6177925083646903e-08, + 2.034279208493842e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.12131090895219843, + -0.14119013276883727, + 0.8081747211697756 + ], + "orientation": [ + 0.9999999987019638, + 4.809033115757566e-05, + 7.862580260393619e-06, + -1.4885336963482229e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.12131001580929493, + -0.11119013292089243, + 0.8081776065826191 + ], + "orientation": [ + 0.9999999987019638, + 4.809033115757566e-05, + 7.862580260393619e-06, + -1.4885336963482229e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1966112119377921, + -0.16328691211741664, + 0.797260493503802 + ], + "orientation": [ + 0.999993399056032, + 0.0018012646331547004, + 0.0005394538561549025, + -0.0031090641073649805 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2958568501413884, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.20055924421845922, + -0.003300634986080967, + 0.8298315437427064 + ], + "orientation": [ + 0.9994876948335844, + 0.00022218953064673358, + -0.0005304377374954493, + 0.03200026787180509 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.15741965310034756, + 0.15423232458755767, + 0.8250140475721484 + ], + "orientation": [ + 0.9975699004340949, + 0.007181857696268689, + -0.012605296004810317, + 0.06814558812257698 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example24/input/input.png b/Spatial/add_condiment_spatial/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..17ceae67a43de868d858c4f6840c849456ed524b --- /dev/null +++ b/Spatial/add_condiment_spatial/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe0bfec93b65e6a85aec63232ed17d5e10e429ad19e093efd3f71c5a8e739cfd +size 643547 diff --git a/Spatial/add_condiment_spatial/example24/input/input_mask.png b/Spatial/add_condiment_spatial/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..beecbea96f95bf51ed9ce92c16667794a4de2746 --- /dev/null +++ b/Spatial/add_condiment_spatial/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d45919ba342b199b74e172257911b3292e639fe83d13950f09a06c0e69a4e045 +size 563104 diff --git a/Spatial/add_condiment_spatial/example24/input/instruction.txt b/Spatial/add_condiment_spatial/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example24/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example24/output/operation_sequence.json b/Spatial/add_condiment_spatial/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example24/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example25/env_config/env_config.json b/Spatial/add_condiment_spatial/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..31e1705fb16471f0a67a03c5b166f29e1c2149fb --- /dev/null +++ b/Spatial/add_condiment_spatial/example25/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303185493026275, + 0.010647712189823496, + 0.003984817771407845 + ], + "orientation": [ + 0.999935621136802, + 0.01094733431347841, + -8.609161012038333e-05, + -0.002983628901627681 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000016062995, + 1.7109252045960708e-09, + 0.0019833430906332217 + ], + "orientation": [ + 0.999999999999917, + -4.0867903474562317e-07, + 1.2565170534076025e-08, + 2.808640255978906e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.15847334535628652, + -0.011024903252655347, + 0.7725999422788628 + ], + "orientation": [ + 0.9999999994176445, + -1.4067565659345349e-05, + 3.079628930876467e-05, + -4.290006446940091e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.15847308798189358, + 0.01897509673436665, + 0.7725990982169967 + ], + "orientation": [ + 0.9999999994176445, + -1.4067565659345349e-05, + 3.079628930876467e-05, + -4.290006446940091e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.18733589698229738, + -0.1502091403931443, + 0.7972985021209752 + ], + "orientation": [ + 0.9998734223075478, + 0.00023926970781458818, + -4.1821239329087674e-05, + -0.015908499740194426 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28327013521521205, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.14209747590086372, + 0.016654775418571573, + 0.822540379872096 + ], + "orientation": [ + 0.9996275816635236, + 0.0005333435924374441, + 9.080591468327845e-06, + 0.027283941058614338 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1499521506658256, + 0.1669090175240286, + 0.8044803611932037 + ], + "orientation": [ + 0.9973125801078935, + 0.00013311773909983096, + 1.6698860420965418e-05, + -0.07326390352248319 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example25/input/input.png b/Spatial/add_condiment_spatial/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c1fef994e20e6e73116d77edb77be914d0e78b51 --- /dev/null +++ b/Spatial/add_condiment_spatial/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5db0c4f6a571ffed29994bda224b65c390a41a15e4b06192898699fb44ceaecb +size 734397 diff --git a/Spatial/add_condiment_spatial/example25/input/input_mask.png b/Spatial/add_condiment_spatial/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f0029d5caef74bfd5d8b2c2f00b34d097a5ebd1c --- /dev/null +++ b/Spatial/add_condiment_spatial/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81ff27fb2a944df8bd10aa52f55ea3fb247e5680961ba23e7d5a73368eacd497 +size 603167 diff --git a/Spatial/add_condiment_spatial/example25/input/instruction.txt b/Spatial/add_condiment_spatial/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example25/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example25/output/operation_sequence.json b/Spatial/add_condiment_spatial/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example25/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example26/env_config/env_config.json b/Spatial/add_condiment_spatial/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..af508852f622c7f79164da43d044b65abddd0055 --- /dev/null +++ b/Spatial/add_condiment_spatial/example26/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296762043193445, + 0.007018056724430496, + 0.004036207717681634 + ], + "orientation": [ + 0.999934940663728, + 0.010708050473733447, + -0.00025000424219502956, + -0.003922957144624773 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2500587118264305, + -9.027610668371629e-05, + 0.0019645482774595965 + ], + "orientation": [ + 0.9999999744544361, + -1.4909099916277103e-05, + -1.1038934055325826e-06, + -0.00022553853061380814 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.14211115805159455, + -0.1137434665247836, + 0.8245112033016629 + ], + "orientation": [ + 0.9999998343988853, + 0.00018185856086460773, + 0.0004652609651006729, + -0.00028576546250327656 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.14209400704998237, + -0.08374347340884977, + 0.824522106836177 + ], + "orientation": [ + 0.9999998343988853, + 0.00018185856086460773, + 0.0004652609651006729, + -0.00028576546250327656 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17045958538564007, + -0.16296293943180137, + 0.8234788152903982 + ], + "orientation": [ + 0.9972395441702127, + 0.017855569638013786, + 0.011383438897027425, + -0.07116802298059477 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.14917152637046066, + -0.007688506106216777, + 0.7972472734095893 + ], + "orientation": [ + 0.9999724802570346, + -0.00019207429644995096, + -0.00023215257881753287, + -0.007412687855262804 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25530341635171266, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17017607040583954, + 0.1343593336538817, + 0.7971827651271988 + ], + "orientation": [ + 0.9990044194025443, + 0.001477388793023216, + 0.00019092076015616815, + -0.044586442847608286 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2527737636467029, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.14893694492510307, + 0.31649577976703075, + 0.8248169030718957 + ], + "orientation": [ + 0.999881180826645, + 0.009186879982619984, + -0.008462063692834547, + -0.009034320282067205 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example26/input/input.png b/Spatial/add_condiment_spatial/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..80d1974f8150a2deb24061ff5d55f2b446283a5b --- /dev/null +++ b/Spatial/add_condiment_spatial/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:628576e3b60becbcf40c6edca1b082acaf53adf663b7de5b8e14c736e0256e43 +size 913496 diff --git a/Spatial/add_condiment_spatial/example26/input/input_mask.png b/Spatial/add_condiment_spatial/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d839cba56dd47dfe17465c5f4de138a7a6f432ec --- /dev/null +++ b/Spatial/add_condiment_spatial/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2229038593dc787c3d657d356bc842be54f1ea485a81d1602a50ec502178f24b +size 771724 diff --git a/Spatial/add_condiment_spatial/example26/input/instruction.txt b/Spatial/add_condiment_spatial/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example26/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example26/output/operation_sequence.json b/Spatial/add_condiment_spatial/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example26/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example27/env_config/env_config.json b/Spatial/add_condiment_spatial/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a35dba75188ad3b05158ea77f5fd9d0e1a5e7c24 --- /dev/null +++ b/Spatial/add_condiment_spatial/example27/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294764472328443, + 0.003574473386732737, + 0.004464903268729934 + ], + "orientation": [ + 0.9999495144852495, + 0.009718149781601553, + -0.00040140550228905174, + -0.002522879140823492 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.22000000017410265, + -5.6527224649641624e-09, + -0.010077934368843864 + ], + "orientation": [ + 0.9999999999998536, + -5.41843669059318e-07, + 8.72978506391675e-09, + -2.301968248375905e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.1394875431371406, + -0.1343894180849948, + 0.7450357404504491 + ], + "orientation": [ + 0.9999999991278942, + 4.148487753645294e-05, + 4.8108215849168015e-06, + -2.6790658360992705e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.13948752705077103, + -0.10438941818825884, + 0.7450382295430218 + ], + "orientation": [ + 0.9999999991278942, + 4.148487753645294e-05, + 4.8108215849168015e-06, + -2.6790658360992705e-07 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1800313729655731, + -0.13747501725252348, + 0.8259519922262658 + ], + "orientation": [ + 0.9988115887445095, + 0.010725083715460925, + -0.0001276219294197137, + -0.047543311639066305 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1646440911595696, + -0.01958293488883639, + 0.8252793347210056 + ], + "orientation": [ + 0.9997615987221657, + 0.004581204139067869, + -0.013747338413453757, + 0.01633306387916051 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.15602443663952573, + 0.1329215655877869, + 0.7972742052210035 + ], + "orientation": [ + 0.999088897521748, + -0.001078135646819235, + -0.0001382361182072454, + 0.04266372420548666 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2570977972493314, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example27/input/input.png b/Spatial/add_condiment_spatial/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3eaaedcdb498f3076faec7df9b5f4b57b3c03906 --- /dev/null +++ b/Spatial/add_condiment_spatial/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:395be201eea451202b78d7ed29729923dbe8a223ae023b32d7dc7eaebedf2195 +size 720575 diff --git a/Spatial/add_condiment_spatial/example27/input/input_mask.png b/Spatial/add_condiment_spatial/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cc5a1587f7fc85fc8d5399efdb8722ee0dc31d84 --- /dev/null +++ b/Spatial/add_condiment_spatial/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73e4ac5720e88bbc62277a507835fd9600af5cd871c13344927cc791bdddb1ed +size 620927 diff --git a/Spatial/add_condiment_spatial/example27/input/instruction.txt b/Spatial/add_condiment_spatial/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example27/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example27/output/operation_sequence.json b/Spatial/add_condiment_spatial/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example27/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example28/env_config/env_config.json b/Spatial/add_condiment_spatial/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4bfdabea6c10e9c85667bb5632bc0cc94129be9d --- /dev/null +++ b/Spatial/add_condiment_spatial/example28/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296824166980365, + 0.007158810330034378, + 0.004025441824066229 + ], + "orientation": [ + 0.9999354431091511, + 0.010709091526676283, + -0.00023715341597409858, + -0.00379061090538563 + ], + "class": "Counter", + "materials": [ + "stone2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000066286415, + 7.117715952814428e-11, + 0.0019833436730003254 + ], + "orientation": [ + 0.9999999999999161, + -4.1149963338953096e-07, + 9.810662900503026e-09, + 9.081735942289412e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.18636410808424278, + -0.0009815961612624925, + 0.7785459640606379 + ], + "orientation": [ + 0.9999999999141476, + 1.2170915390992414e-05, + 4.631013901330675e-06, + 1.4583746418311146e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.18636419558333947, + 0.02901840382972201, + 0.7785466943159666 + ], + "orientation": [ + 0.9999999999141476, + 1.2170915390992414e-05, + 4.631013901330675e-06, + 1.4583746418311146e-06 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.1769541551882256, + -0.1541583090324328, + 0.8245751757316673 + ], + "orientation": [ + 0.9981611344417628, + 0.006622052626174305, + -0.0007245337237036817, + 0.060249258583269856 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.16598524685177957, + -0.0003326166234200196, + 0.7972204237579058 + ], + "orientation": [ + 0.9999618562139662, + 0.0005436143648394871, + -0.0006821348761124834, + -0.008690528899500461 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2699948246214654, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.16483361438619656, + 0.14937081662468085, + 0.7972092602259817 + ], + "orientation": [ + 0.9999990709828134, + -5.9531120713039475e-05, + -0.00021336664944789175, + -0.001344977407878688 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27523591902843303, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example28/input/input.png b/Spatial/add_condiment_spatial/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a24de20a6d80207d106bb43f44d3922672b7369f --- /dev/null +++ b/Spatial/add_condiment_spatial/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70278a5d8824e9cacd96464c6ca2e39d72dd742b8e16942cad413673c7976416 +size 720854 diff --git a/Spatial/add_condiment_spatial/example28/input/input_mask.png b/Spatial/add_condiment_spatial/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f260488b8a3addac972dceb0b3195219c712105f --- /dev/null +++ b/Spatial/add_condiment_spatial/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14abb9af8bfd968ab0edc6184978449ab1eb941349bd8af053dc64ade1177675 +size 578346 diff --git a/Spatial/add_condiment_spatial/example28/input/instruction.txt b/Spatial/add_condiment_spatial/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example28/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example28/output/operation_sequence.json b/Spatial/add_condiment_spatial/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example28/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example29/env_config/env_config.json b/Spatial/add_condiment_spatial/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..345e09f0f20accab543dbd737cddf43d8abb6330 --- /dev/null +++ b/Spatial/add_condiment_spatial/example29/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5298487609683199, + 0.0017151172788843591, + 0.005362820091543784 + ], + "orientation": [ + 0.9999610687778174, + 0.008575224015585652, + -0.0002681681875976113, + -0.0020626554806343887 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.38728218941432163, + 0.09528890404508682, + -0.00016259837448658081 + ], + "orientation": [ + 0.999643772703774, + -0.003653866833566049, + -0.00012092953005860968, + 0.02643789567604599 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.11022661098720446, + 0.01866648434837852, + 0.8255176808291668 + ], + "orientation": [ + 0.9988595045009552, + -0.0042871033016955475, + 0.0004288656560938071, + 0.047551310051718546 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.11307654598248452, + 0.04852971396783724, + 0.8252619715838132 + ], + "orientation": [ + 0.9988595045009552, + -0.0042871033016955475, + 0.0004288656560938071, + 0.047551310051718546 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16287241729594137, + -0.1641864983335533, + 0.8268193826518112 + ], + "orientation": [ + 0.9980451492051792, + -0.0023800197361780527, + -4.743093664564418e-05, + 0.06245168856302184 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.20412810822033126, + 0.005677967054851173, + 0.8243001070907726 + ], + "orientation": [ + 0.9996838440701022, + 0.01299365774123389, + 0.0007585524782115931, + 0.021512818547658834 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.20374543922904126, + 0.15054056820751485, + 0.8258265568751655 + ], + "orientation": [ + 0.9969225815927154, + 0.005639000005194333, + -0.006237531746400584, + 0.07794011282497461 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1773947919151912, + 0.30902473452866636, + 0.7971236550281781 + ], + "orientation": [ + 0.9997494234793921, + -0.0016049306768041323, + -0.000678342794154929, + 0.022317130218702817 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28233080177262415, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example29/input/input.png b/Spatial/add_condiment_spatial/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ff82c122d47097b30077079cf446e51288ae6514 --- /dev/null +++ b/Spatial/add_condiment_spatial/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0826fc8c2e13acd7c305c1c4ae2b2b6036476b1c22a7638d112e04f0a4a00be8 +size 810363 diff --git a/Spatial/add_condiment_spatial/example29/input/input_mask.png b/Spatial/add_condiment_spatial/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0a35eff1ad887230eee80565dadcdfe260bbee89 --- /dev/null +++ b/Spatial/add_condiment_spatial/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c91564db314b103a01a8b1e6ff40a3c9fcb4e9ed5ae5ad94e44f764d38693b30 +size 643116 diff --git a/Spatial/add_condiment_spatial/example29/input/instruction.txt b/Spatial/add_condiment_spatial/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example29/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example29/output/operation_sequence.json b/Spatial/add_condiment_spatial/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example29/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example3/env_config/env_config.json b/Spatial/add_condiment_spatial/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..28933a2a6d8185d50d66cd37d2cf94f281ca5227 --- /dev/null +++ b/Spatial/add_condiment_spatial/example3/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303342688517787, + 0.01071054409408714, + 0.003974381359082064 + ], + "orientation": [ + 0.9999362821994627, + 0.010914199858078982, + -0.00010583663042093241, + -0.0028810729219942302 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.39051402983733097, + 0.10830711694715983, + 0.002726971313324078 + ], + "orientation": [ + 0.9999196682952385, + 0.005765417685856758, + 6.816180920663875e-05, + 0.011287704337746951 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.1931494939224382, + -0.054538888600946814, + 0.8395698489652226 + ], + "orientation": [ + 0.9998122974759592, + 0.005728223514435044, + 6.434621313894707e-05, + 0.018508190910422946 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.19425975481964514, + -0.024561410541471318, + 0.8399135493198878 + ], + "orientation": [ + 0.9998122974759592, + 0.005728223514435044, + 6.434621313894707e-05, + 0.018508190910422946 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1953171095997275, + -0.146531412006913, + 0.7972482740361166 + ], + "orientation": [ + 0.9992494607096039, + 0.001794215804949784, + 0.000664087912885728, + 0.03868921100842147 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29495639600788714, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15718694532705307, + -0.005604128800702286, + 0.7972570366621766 + ], + "orientation": [ + 0.9988763719770981, + 0.0021626916966606714, + 0.0007207321988343506, + -0.04733705541744907 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.256750558045352, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1475346283966689, + 0.14736425969126202, + 0.8248142546666614 + ], + "orientation": [ + 0.9982226900328851, + -0.00014123133483359026, + 2.8411550461583836e-05, + -0.05959396236200592 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.15962399628173224, + 0.32299663482568125, + 0.8235306146894946 + ], + "orientation": [ + 0.9987084978141523, + -0.03739497969635505, + -0.005883810364906668, + -0.033887057454119546 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example3/input/input.png b/Spatial/add_condiment_spatial/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a85c113861acd090dc4ec9d2e4862778b4f6dc20 --- /dev/null +++ b/Spatial/add_condiment_spatial/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3262fd908c8bbbeb254f64f5b0552590f70402ec37d246d9804536ebf0f458bd +size 815920 diff --git a/Spatial/add_condiment_spatial/example3/input/input_mask.png b/Spatial/add_condiment_spatial/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..cc18f578839550ab1d1abfb3b4a4d4879e0db5ce --- /dev/null +++ b/Spatial/add_condiment_spatial/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1e82b6dcbeb04e4db1f7482ddc0c6f168743f8ff2ea07dacc23bbac24dbdb80 +size 688206 diff --git a/Spatial/add_condiment_spatial/example3/input/instruction.txt b/Spatial/add_condiment_spatial/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example3/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example3/output/operation_sequence.json b/Spatial/add_condiment_spatial/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example3/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example30/env_config/env_config.json b/Spatial/add_condiment_spatial/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2d9b48711ae24bcd03195fcf6551d2066183e043 --- /dev/null +++ b/Spatial/add_condiment_spatial/example30/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530373140314929, + 0.010426999343327997, + 0.0039786650682138705 + ], + "orientation": [ + 0.9999355229232921, + 0.010896318206929535, + -0.00012284248930580067, + -0.003194550888123975 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.389054604003757, + 0.10913766730604867, + 0.0024574179351643296 + ], + "orientation": [ + 0.9999464981981748, + 0.005306037677140304, + -2.562811959511263e-05, + 0.008879529749636794 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.11198530390598418, + -0.023236560378864228, + 0.8396277629738286 + ], + "orientation": [ + 0.993478492832887, + 0.09939140291389918, + 0.006780427606668669, + -0.055460428295978456 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.1086389443703319, + 0.005986169016337799, + 0.8455297935187296 + ], + "orientation": [ + 0.993478492832887, + 0.09939140291389918, + 0.006780427606668669, + -0.055460428295978456 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.16443738096312405, + -0.1465370175602635, + 0.7972438647058028 + ], + "orientation": [ + 0.9998577413419117, + 0.0017096190277313865, + 0.00042725647748414596, + -0.01677473497054961 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26162591218201403, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17877688405923864, + 0.004017366744792135, + 0.7972556768803464 + ], + "orientation": [ + 0.9994742141707497, + 0.0019771044356961974, + 0.0006977987250949467, + 0.032355823938713855 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28168190085405526, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.15828967453435747, + 0.1461202319152889, + 0.8247581287793724 + ], + "orientation": [ + 0.9999912083594242, + 0.002407054253626957, + 0.0012185050192624492, + -0.0032100684101130815 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example30/input/input.png b/Spatial/add_condiment_spatial/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fa6d63e824533067bcb98e7257eb090bf441d6a9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd288dd90ff1ad9110f708208a9f2941a63638bb29833e549011cc3f608ba6cb +size 835639 diff --git a/Spatial/add_condiment_spatial/example30/input/input_mask.png b/Spatial/add_condiment_spatial/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bb52505bb03ab6c8f03f25b374c3d1b79163729c --- /dev/null +++ b/Spatial/add_condiment_spatial/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23bbedae34250f75ce01e7e2a05d58b3506741ec7051ec1035d9a0d577b94f7a +size 654681 diff --git a/Spatial/add_condiment_spatial/example30/input/instruction.txt b/Spatial/add_condiment_spatial/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example30/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example30/output/operation_sequence.json b/Spatial/add_condiment_spatial/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example30/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example31/env_config/env_config.json b/Spatial/add_condiment_spatial/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ec0dd451a0e665094411bb24509a1d53ec8fa19a --- /dev/null +++ b/Spatial/add_condiment_spatial/example31/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303671214388795, + 0.01047919338773469, + 0.003978030977297424 + ], + "orientation": [ + 0.9999361320684563, + 0.01087812316648821, + -0.0001287734314708602, + -0.0030629459273030244 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.24999997964380255, + 1.0760660037378532e-08, + 0.001987637187494545 + ], + "orientation": [ + 0.9999999999855539, + -5.375152160676907e-06, + -3.1071985694420388e-09, + -2.9914339664545077e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.18168127515480775, + -0.14045487287988753, + 0.8274356514188085 + ], + "orientation": [ + 0.9999999814038116, + -3.384195080073357e-05, + 0.00018677287491972367, + 3.4102667462446146e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.18168332169406295, + -0.1104548730183837, + 0.8274336212839654 + ], + "orientation": [ + 0.9999999814038116, + -3.384195080073357e-05, + 0.00018677287491972367, + 3.4102667462446146e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1709831417216747, + -0.15825015011287405, + 0.7972450306301735 + ], + "orientation": [ + 0.9977212879961658, + 0.002003667534908055, + 0.0005960252128179145, + -0.06743783470445568 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27057979024194767, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17283022938742465, + -0.0020397518238958637, + 0.8245514925304802 + ], + "orientation": [ + 0.9981953761725878, + 0.003811024364135504, + 0.004906488408493524, + -0.059727660698036665 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.15932935485238472, + 0.1699365090555149, + 0.7972993402594943 + ], + "orientation": [ + 0.9995153257109332, + 0.0007106657291743894, + -0.00011723614059024017, + -0.031122256969499627 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2749109370831626, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17249270649315523, + 0.30086471087677574, + 0.8044329698170678 + ], + "orientation": [ + 0.9972910951980024, + 0.00012240682539781973, + -7.221326210240119e-06, + -0.07355580468726367 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example31/input/input.png b/Spatial/add_condiment_spatial/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4ee83e070edab183ca307ad077775386bc3a5a34 --- /dev/null +++ b/Spatial/add_condiment_spatial/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df7c68147c02301c56f1d58aaf70b798a8b4c4a9d0bafbfe0a07d271b441362a +size 866136 diff --git a/Spatial/add_condiment_spatial/example31/input/input_mask.png b/Spatial/add_condiment_spatial/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4a2a798d91a1109df14b3637f1828fa32287d988 --- /dev/null +++ b/Spatial/add_condiment_spatial/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2dbe7a47a66f2d10f127e5d76b42084b3ca1708082c4559917efa5830f8fa9a +size 749712 diff --git a/Spatial/add_condiment_spatial/example31/input/instruction.txt b/Spatial/add_condiment_spatial/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example31/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example31/output/operation_sequence.json b/Spatial/add_condiment_spatial/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example31/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example32/env_config/env_config.json b/Spatial/add_condiment_spatial/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b9e3fca820955e1f2e561d8f843a7064ed5d26a8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example32/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.545717665237724, + 0.019022359232517785, + 0.004868865450745432 + ], + "orientation": [ + 0.9994171813156136, + 0.008948756578128212, + -0.00035785639963599214, + -0.03294069497832699 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.34950733915185744, + 0.1332283790833067, + 0.007880463334079116 + ], + "orientation": [ + 0.9993116036282202, + 0.01625727639823166, + -0.0007618984603653357, + -0.033338256235776874 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.17131309380567114, + 0.03506745277079545, + 0.8304763286655924 + ], + "orientation": [ + 0.9997773250099887, + 0.01571352663645679, + -0.0010866516421001275, + -0.014042957833963128 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.17047172846433445, + 0.06504080559575061, + 0.831419845911408 + ], + "orientation": [ + 0.9997773250099887, + 0.01571352663645679, + -0.0010866516421001275, + -0.014042957833963128 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.16330535851358446, + -0.11703709796301377, + 0.8282156197222418 + ], + "orientation": [ + 0.9953811317751255, + 0.08945123107392974, + 0.011878608447453134, + -0.03276855850933728 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17402424573967132, + 0.009389112078057595, + 0.8273077377502775 + ], + "orientation": [ + 0.9960575077242674, + 0.07146304572486405, + -0.05218017294005083, + -0.006301107346702614 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.20852484208359176, + 0.13417660972195758, + 0.8077300058504946 + ], + "orientation": [ + 0.9947089918481924, + 0.08901816539015443, + -0.0255182185160595, + -0.04448155000324913 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example32/input/input.png b/Spatial/add_condiment_spatial/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..af8162adfb3e35f122460ec4f9a5d55875506a56 --- /dev/null +++ b/Spatial/add_condiment_spatial/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05d5c0adb7c9e420fd4f3b092f9a11a4be7477fe6537561728ef3378346fcb3b +size 808944 diff --git a/Spatial/add_condiment_spatial/example32/input/input_mask.png b/Spatial/add_condiment_spatial/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d18b96d180fd832faa05a8de22f4920211220df3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4f40d1115fb736014fce8ae19f901c53f6f5bdf1567e0fccc40f8f45eb9f685 +size 660691 diff --git a/Spatial/add_condiment_spatial/example32/input/instruction.txt b/Spatial/add_condiment_spatial/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example32/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example32/output/operation_sequence.json b/Spatial/add_condiment_spatial/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example32/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example33/env_config/env_config.json b/Spatial/add_condiment_spatial/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc57c36ff0b2259a981e8a8e44a8a487ecaec77 --- /dev/null +++ b/Spatial/add_condiment_spatial/example33/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294816259254782, + 0.0036156011056326627, + 0.004456657150594141 + ], + "orientation": [ + 0.9999495955755047, + 0.009720034187991791, + -0.00039312933037088287, + -0.00248449051071154 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000029839556, + 5.53021357256291e-09, + 0.0019833349600829257 + ], + "orientation": [ + 0.9999999999999217, + -3.9679630057942875e-07, + 7.055387577086028e-09, + 1.2395458457611043e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.19583555074996134, + -0.04647104726388033, + 0.775552547241382 + ], + "orientation": [ + 0.9999999987449407, + 4.60899558589124e-05, + 1.7606927757459064e-05, + -8.708152204415467e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.19583502821213958, + -0.01647104739588725, + 0.7755553126295306 + ], + "orientation": [ + 0.9999999987449407, + 4.60899558589124e-05, + 1.7606927757459064e-05, + -8.708152204415467e-06 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16760024846039595, + -0.1502205510399708, + 0.8256078418282605 + ], + "orientation": [ + 0.9990214976637619, + -0.0050763456773907385, + 8.701455414913392e-05, + -0.04393484208101859 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1736995356245196, + -0.019086638689366896, + 0.825271406049305 + ], + "orientation": [ + 0.9981042470495011, + 0.003199228500339351, + -0.014024247840103898, + -0.05984143573871362 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1609480316670915, + 0.16502912443994697, + 0.7971527459573216 + ], + "orientation": [ + 0.9976308420918052, + -0.0007012587544055856, + -0.0012002884458659987, + -0.0687805964716971 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2634031751784328, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16361414084119236, + 0.2874550779077202, + 0.8225970834677685 + ], + "orientation": [ + 0.9987929375111203, + 0.013307253999950404, + 0.0003667506327523119, + 0.04728055057697299 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example33/input/input.png b/Spatial/add_condiment_spatial/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..02eccc93f659ec747e5f947f9b172b72313ccfa8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c14fe631d6e613dac3d54a76df811367f9ba6fa9cfcbb66b994ccd8c88ea8bb9 +size 711572 diff --git a/Spatial/add_condiment_spatial/example33/input/input_mask.png b/Spatial/add_condiment_spatial/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..57f97739fd738c71a08b7cb1007cf141e69bd6e1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86baab3d40a716d801cfec86842e5c07401d7fcdf5f9aa693914d716f731751f +size 584047 diff --git a/Spatial/add_condiment_spatial/example33/input/instruction.txt b/Spatial/add_condiment_spatial/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example33/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example33/output/operation_sequence.json b/Spatial/add_condiment_spatial/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example33/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example34/env_config/env_config.json b/Spatial/add_condiment_spatial/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d7e80328be4d3a294648154773080194beeccb49 --- /dev/null +++ b/Spatial/add_condiment_spatial/example34/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.529680617905572, + 0.007125511195609232, + 0.004027831718412893 + ], + "orientation": [ + 0.9999353251702324, + 0.010708529785672716, + -0.00024010926282449507, + -0.0038229849689549343 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000224538893, + 3.6509743577238324e-08, + 0.009963155859688884 + ], + "orientation": [ + 0.9999999999999237, + -3.9124320819746587e-07, + 4.447886156054309e-09, + -3.863246794826239e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.13313162770879924, + -0.16027493299543283, + 0.7934877767134436 + ], + "orientation": [ + 0.9998524933470655, + -0.00022338407568131034, + 0.0001436132448664753, + -0.017173264757918583 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1321013857384271, + -0.1302926312508063, + 0.7934742276674444 + ], + "orientation": [ + 0.9998524933470655, + -0.00022338407568131034, + 0.0001436132448664753, + -0.017173264757918583 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17404909192805765, + -0.1474109928174874, + 0.8248439371681722 + ], + "orientation": [ + 0.9999582885480361, + 0.0036350982055901636, + -0.008360913445539717, + -0.0005498649585823729 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.14857024223187257, + 0.017562222387484405, + 0.7972081943494606 + ], + "orientation": [ + 0.9999386725850435, + 0.0005683891875457801, + -0.000659845618786607, + -0.011040498464803969 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2666380661685838, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.15929352212527997, + 0.15231592849297465, + 0.8231854585961611 + ], + "orientation": [ + 0.9985592126120949, + -0.053512605135941714, + -0.0009901124463174338, + -0.0038625996973601683 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17170459676253289, + 0.2961985988959982, + 0.822902093147756 + ], + "orientation": [ + 0.9995086746857433, + 0.01546160376998464, + -0.0003077335665553455, + 0.027262672958848246 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example34/input/input.png b/Spatial/add_condiment_spatial/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4220c2d96d576adf2633fa96e987f95f8cb05be7 --- /dev/null +++ b/Spatial/add_condiment_spatial/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53ce712c595605a577cbd208a096c9e9c2fc22c88b7e2e0c96707b50d162346f +size 646237 diff --git a/Spatial/add_condiment_spatial/example34/input/input_mask.png b/Spatial/add_condiment_spatial/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b47c22166a5308a2f5c19c00206688ee8958ff99 --- /dev/null +++ b/Spatial/add_condiment_spatial/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e2fe16426b44b9f149b8ceb85e7a1cc3555e4406bdb8fbf845e44eede174d15 +size 561288 diff --git a/Spatial/add_condiment_spatial/example34/input/instruction.txt b/Spatial/add_condiment_spatial/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example34/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example34/output/operation_sequence.json b/Spatial/add_condiment_spatial/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example34/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example35/env_config/env_config.json b/Spatial/add_condiment_spatial/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb0476e8a1795b22c7f01b69fc72872d282c440 --- /dev/null +++ b/Spatial/add_condiment_spatial/example35/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303381248224236, + 0.010653958027381803, + 0.003971272652225611 + ], + "orientation": [ + 0.9999366740407487, + 0.01088402698572752, + -0.0001154050206417596, + -0.002858766618819328 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999668007175, + 1.243821559427134e-08, + 0.00996303070409054 + ], + "orientation": [ + 0.999999999999906, + -4.3403978584034017e-07, + -2.689837787794696e-09, + 4.306685246294453e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.18068174514743637, + -0.01206559458603733, + 0.8044847056333042 + ], + "orientation": [ + 0.9999999977892574, + 4.8289960726716414e-05, + -3.352077397437798e-05, + -3.107928701140472e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.18067988048734282, + 0.01793440521609211, + 0.8044876030934495 + ], + "orientation": [ + 0.9999999977892574, + 4.8289960726716414e-05, + -3.352077397437798e-05, + -3.107928701140472e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.20727853796700618, + -0.15389123704491586, + 0.7972890651338472 + ], + "orientation": [ + 0.9996773957060511, + 0.0004644225280373843, + -0.0001346001309068761, + -0.025394304654559163 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2917712647308319, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1392165873503133, + -0.011554112166034025, + 0.8044195391760726 + ], + "orientation": [ + 0.9996358666450349, + 3.121941297071752e-05, + -3.621372970195303e-05, + -0.02698391800209161 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.19497219513979863, + 0.13055346682553173, + 0.7973010447171955 + ], + "orientation": [ + 0.999904178830796, + -4.3739495177855516e-05, + -0.0003452680908882032, + 0.013838787284808923 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2753657449028365, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.14937610715032945, + 0.30745665897404434, + 0.8249615986500748 + ], + "orientation": [ + 0.9997785852398812, + -0.0013094842237837887, + -0.003706742230808016, + -0.020671860314046872 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example35/input/input.png b/Spatial/add_condiment_spatial/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1a943e0c13f60941ccaa629e3ffb6ce973705692 --- /dev/null +++ b/Spatial/add_condiment_spatial/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:492449f47e01ba658ba1a92ff866de220a3c00af4024af31e041a7151dfd386c +size 721862 diff --git a/Spatial/add_condiment_spatial/example35/input/input_mask.png b/Spatial/add_condiment_spatial/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3e6bc564429549343743536ac1a40e69d29f3095 --- /dev/null +++ b/Spatial/add_condiment_spatial/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82da18350646541bb8207d1f7e45af038cdc247536b08418634491cd547735e4 +size 589289 diff --git a/Spatial/add_condiment_spatial/example35/input/instruction.txt b/Spatial/add_condiment_spatial/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example35/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example35/output/operation_sequence.json b/Spatial/add_condiment_spatial/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example35/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example36/env_config/env_config.json b/Spatial/add_condiment_spatial/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..66cb73c28e9e39d1ff532f9263e418093f14f481 --- /dev/null +++ b/Spatial/add_condiment_spatial/example36/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5295003619319132, + 0.003758998566307799, + 0.004427353587308254 + ], + "orientation": [ + 0.9999498285040176, + 0.00972869372015428, + -0.00036228563287061166, + -0.0023583346679907614 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.39099285614253104, + 0.08829524235942582, + -0.0007766094700247844 + ], + "orientation": [ + 0.9999882179945363, + -0.0016598943508993637, + 0.00014359044798908574, + 0.004559386432234036 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.14957161797824414, + 0.02968614900931407, + 0.8265825341072516 + ], + "orientation": [ + 0.9997961700772587, + -0.0023072916341887514, + 8.279131934451913e-05, + 0.02005711469173066 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.15077481102676282, + 0.05966169232264752, + 0.826444224460204 + ], + "orientation": [ + 0.9997961700772587, + -0.0023072916341887514, + 8.279131934451913e-05, + 0.02005711469173066 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.15913123103943735, + -0.14648333631050917, + 0.805109367252683 + ], + "orientation": [ + 0.9999349276861107, + -0.003130417023876314, + -3.84388844944507e-05, + -0.010969931863071452 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.2086421291558378, + -0.016919208679252614, + 0.8253049473915471 + ], + "orientation": [ + 0.9993329784805688, + 0.00445973345505405, + -0.01373817310472922, + -0.033540594783154416 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.17461223944029303, + 0.15293495608012517, + 0.7972478385028019 + ], + "orientation": [ + 0.9975199899569702, + -0.00026357286605198046, + -0.0004028052833560487, + -0.07038208517439529 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2861559279913638, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example36/input/input.png b/Spatial/add_condiment_spatial/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b23ec9f80dd4efb76d18d073d382c3a70c974035 --- /dev/null +++ b/Spatial/add_condiment_spatial/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:177ee144fb54e6183ab956d4e4682f397a11a73da31778f8030acab2bcbb63a0 +size 789979 diff --git a/Spatial/add_condiment_spatial/example36/input/input_mask.png b/Spatial/add_condiment_spatial/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2281a7d1b1c9e4258bfa165e356ceef1c43794eb --- /dev/null +++ b/Spatial/add_condiment_spatial/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0db3e8e2303f2aa3be49adda3bebd02bb05cbc84493fe5cf2e358dfe68cff8c +size 645963 diff --git a/Spatial/add_condiment_spatial/example36/input/instruction.txt b/Spatial/add_condiment_spatial/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example36/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example36/output/operation_sequence.json b/Spatial/add_condiment_spatial/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example36/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example37/env_config/env_config.json b/Spatial/add_condiment_spatial/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2943689b18238f0a86cb722c34efba786687cc65 --- /dev/null +++ b/Spatial/add_condiment_spatial/example37/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530000053686887, + -0.0001398292017905957, + 0.004124506475167342 + ], + "orientation": [ + 0.9999408958898425, + 0.010872199732151972, + -1.8164898676291412e-08, + -4.6351723598285964e-08 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000000004359463, + 1.775905433192518e-08, + 0.0019876354122723137 + ], + "orientation": [ + 0.9999999999855731, + -5.371608183170806e-06, + 1.156122913869422e-09, + -2.519878193968757e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.1837319423862927, + -0.1507244971671696, + 0.8580636838638694 + ], + "orientation": [ + 0.9999996483814596, + -0.0008075809555503168, + -0.000225373343580693, + -1.602537081513379e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.18373096994394866, + -0.12072453631379836, + 0.8580152292402755 + ], + "orientation": [ + 0.9999996483814596, + -0.0008075809555503168, + -0.000225373343580693, + -1.602537081513379e-05 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1475761059017799, + -0.14058756822255572, + 0.8250912653231446 + ], + "orientation": [ + 0.9999486896129345, + 0.002064593475996134, + 0.0002813375436893529, + 0.009913447651544395 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.19546772474424953, + -0.009496222338770831, + 0.8231524331871052 + ], + "orientation": [ + 0.9976997984024765, + -0.013006550961189411, + -0.0009297241063099842, + 0.06652125609786814 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.18311036918762924, + 0.14917199545933077, + 0.825385894472439 + ], + "orientation": [ + 0.9990311995225306, + -0.014467088105365983, + -0.0032389364276458814, + -0.041435190757880574 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example37/input/input.png b/Spatial/add_condiment_spatial/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1cdb3c268a839cd17f52edbb1a617c8dbd7dfca6 --- /dev/null +++ b/Spatial/add_condiment_spatial/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acf1eb419767c4adf7e1b2b26233df7320ae85ef9c69cf64efd725fe3b21843c +size 884726 diff --git a/Spatial/add_condiment_spatial/example37/input/input_mask.png b/Spatial/add_condiment_spatial/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c7193ba0229fdfd410083d399fb4b4ddd10a5680 --- /dev/null +++ b/Spatial/add_condiment_spatial/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf232cc1960184eadc4343510811da3596a851c4580f100fdb1eea5f95164b4f +size 758559 diff --git a/Spatial/add_condiment_spatial/example37/input/instruction.txt b/Spatial/add_condiment_spatial/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example37/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example37/output/operation_sequence.json b/Spatial/add_condiment_spatial/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example37/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example38/env_config/env_config.json b/Spatial/add_condiment_spatial/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dedc4bfca347be314bae5342570e1b1aba34a840 --- /dev/null +++ b/Spatial/add_condiment_spatial/example38/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530371074385744, + 0.010440416661505839, + 0.003992590948964345 + ], + "orientation": [ + 0.9999348573352168, + 0.010940367000530353, + -0.00010424876027963437, + -0.003252474148884498 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.38881126306936403, + 0.11023703368362002, + 0.0028875280026401553 + ], + "orientation": [ + 0.9999460769008622, + 0.006016674014736367, + 4.682323102605448e-06, + 0.00846421304381085 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.1634685189522496, + -0.03354856877406028, + 0.8502479909822803 + ], + "orientation": [ + 0.9999496530442309, + 0.008751497030990015, + 0.0007012953511085091, + -0.0048591008706490675 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16317661933541586, + -0.003554580747753503, + 0.8507728499075746 + ], + "orientation": [ + 0.9999496530442309, + 0.008751497030990015, + 0.0007012953511085091, + -0.0048591008706490675 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1534758774337263, + -0.15911927066969508, + 0.797255237170418 + ], + "orientation": [ + 0.99792030523418, + 0.0018875722291931158, + 0.00080227112885783, + 0.06442715136831502 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2584754545040492, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17240552977771936, + -0.012331249570413115, + 0.8225393308699254 + ], + "orientation": [ + 0.9984283719919166, + 0.0005821495860330501, + 2.8818767981335926e-05, + 0.05603968480379124 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.20242335507197962, + 0.16128047998922232, + 0.825023810733363 + ], + "orientation": [ + 0.9984391964704832, + 0.0062802250896552315, + -0.013165739270754288, + -0.053910973221158474 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_9/model.xml", + "position": [ + 0.1788958278196621, + 0.3029077076232362, + 0.8248619597364796 + ], + "orientation": [ + 0.9999999798537127, + 0.000178686717801244, + -6.091404869156412e-05, + -6.821370699922046e-05 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example38/input/input.png b/Spatial/add_condiment_spatial/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a1378b7ff4bc68d4e70c75abf5c05e2eee283add --- /dev/null +++ b/Spatial/add_condiment_spatial/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10ccf4823c9238b63a2f11e198d2790e5586bba5b49821d3036d606c7bee74ec +size 812523 diff --git a/Spatial/add_condiment_spatial/example38/input/input_mask.png b/Spatial/add_condiment_spatial/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..29dfd0adf2ac155a1988cc027a9eba66fc7067e7 --- /dev/null +++ b/Spatial/add_condiment_spatial/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46a669a5bfb37284b2968ad6abaaa5f938f7e35186ac6a8ba84fcd96997aa1fc +size 674880 diff --git a/Spatial/add_condiment_spatial/example38/input/instruction.txt b/Spatial/add_condiment_spatial/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example38/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example38/output/operation_sequence.json b/Spatial/add_condiment_spatial/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example38/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example39/env_config/env_config.json b/Spatial/add_condiment_spatial/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0eeddee19371d66115039d759cd49994e6cf3302 --- /dev/null +++ b/Spatial/add_condiment_spatial/example39/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296885008084292, + 0.007258981465921371, + 0.004018502165356338 + ], + "orientation": [ + 0.9999358084447516, + 0.010710695180180092, + -0.00022836641072858344, + -0.0036888816028535815 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.21999999999047537, + 1.0656324415644344e-09, + 0.001983340586578719 + ], + "orientation": [ + 0.9999999999999294, + -3.769702922303118e-07, + 1.9783228709915246e-08, + -3.414087019451619e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.11656536715964164, + -0.16803271732693587, + 0.818060989669315 + ], + "orientation": [ + 0.9999997273220937, + -0.0007227280480196019, + -0.00015172274039406596, + -3.42340920056848e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.11656534003993524, + -0.13803274866709278, + 0.8180176260013745 + ], + "orientation": [ + 0.9999997273220937, + -0.0007227280480196019, + -0.00015172274039406596, + -3.42340920056848e-07 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.1790248796606877, + -0.14277550106292444, + 0.8301150788748423 + ], + "orientation": [ + 0.9975289271667296, + 0.011568372966578446, + -0.00030074204302277735, + 0.06929734314333141 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.19866597979315975, + -0.01726273309781714, + 0.7972300927174055 + ], + "orientation": [ + 0.9982019395729623, + 0.0016903699706522584, + 0.0003724218993775121, + -0.05991570565442506 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28016336898331906, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.1687792477903207, + 0.1536955400531918, + 0.7972461274815672 + ], + "orientation": [ + 0.9973773967520431, + 0.00016848287838329524, + 0.00013048866846215114, + 0.07237598382298382 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2756964470261138, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.18436341163698897, + 0.2974421261922482, + 0.8043092810807543 + ], + "orientation": [ + 0.9999923298381389, + -0.00021999811468854423, + -0.00022615460991350845, + -0.003903936450889168 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example39/input/input.png b/Spatial/add_condiment_spatial/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ddc0b62d9fc20ad29f112ebcc8c3f7fc9d46a454 --- /dev/null +++ b/Spatial/add_condiment_spatial/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00798e036687ad4a0cd46ce342c10ca0fe2be03ae46b24f90b9e3265ea39dc2d +size 673129 diff --git a/Spatial/add_condiment_spatial/example39/input/input_mask.png b/Spatial/add_condiment_spatial/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aaca71f76084f610ae0bde56e7fccbeec440b82a --- /dev/null +++ b/Spatial/add_condiment_spatial/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d984bb38afeea116c46d6b73e0a8a230aa515482bc80f1f1023d91660c74d91 +size 577602 diff --git a/Spatial/add_condiment_spatial/example39/input/instruction.txt b/Spatial/add_condiment_spatial/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example39/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example39/output/operation_sequence.json b/Spatial/add_condiment_spatial/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example39/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example4/env_config/env_config.json b/Spatial/add_condiment_spatial/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3dcdcb59ef8d10bb504bf53bdcf3412d4ada6539 --- /dev/null +++ b/Spatial/add_condiment_spatial/example4/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303088825172521, + 0.010696753662872465, + 0.003983065805010697 + ], + "orientation": [ + 0.9999357739099558, + 0.01094913949922574, + -8.146975377674723e-05, + -0.002925365277178915 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.24999999968975087, + 1.3925297488634515e-08, + 0.0019876342272413996 + ], + "orientation": [ + 0.9999999999854863, + -5.387807654069527e-06, + 4.295945042423687e-09, + 7.547397522556101e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.14130938083180147, + -0.022476762984335947, + 0.8158432389541267 + ], + "orientation": [ + 0.9999999999675876, + -1.1458747784318596e-06, + 7.581152429874651e-07, + -7.9333155044112e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.14130890483292335, + 0.0075232370118090315, + 0.8158431702012792 + ], + "orientation": [ + 0.9999999999675876, + -1.1458747784318596e-06, + 7.581152429874651e-07, + -7.9333155044112e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.17650290578502512, + -0.1387583250950283, + 0.7972608311833006 + ], + "orientation": [ + 0.9997964889313805, + 0.0019405753244394841, + 0.0007407976630307529, + 0.02006654197207149 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28915781204405583, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1767652163610594, + 0.019802497522425515, + 0.8044651661428653 + ], + "orientation": [ + 0.998483232452972, + 0.00014631357441865128, + 3.442000844955952e-05, + -0.05505644301865286 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.17657202396646363, + 0.15482152669996577, + 0.8323451435588238 + ], + "orientation": [ + 0.9995391107652479, + 3.8862466602714164e-05, + 1.0144608736930172e-05, + -0.03035727980920434 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example4/input/input.png b/Spatial/add_condiment_spatial/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d509e15e8199bde121b2e95ac51320f2af97b128 --- /dev/null +++ b/Spatial/add_condiment_spatial/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:080ea9b7b572821870b422d844443bff977bf827990a55b77137e065c122e042 +size 894509 diff --git a/Spatial/add_condiment_spatial/example4/input/input_mask.png b/Spatial/add_condiment_spatial/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..15fa006f11890be19d9bf1ec6eafdb1e95e5660e --- /dev/null +++ b/Spatial/add_condiment_spatial/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:165dceea8cc51572a35ffc010ade5795d35a5ad2396d4359933f601f561d0f81 +size 718597 diff --git a/Spatial/add_condiment_spatial/example4/input/instruction.txt b/Spatial/add_condiment_spatial/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example4/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example4/output/operation_sequence.json b/Spatial/add_condiment_spatial/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example4/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example40/env_config/env_config.json b/Spatial/add_condiment_spatial/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cba535413371b6d1a6e969a93c7d1d6bb1285e4e --- /dev/null +++ b/Spatial/add_condiment_spatial/example40/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294974888386932, + 0.0037296037601041877, + 0.004433982512060012 + ], + "orientation": [ + 0.9999498285531582, + 0.009725317737861738, + -0.0003690731470979421, + -0.0023711508638131797 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000171490408, + 5.321322744753545e-09, + 0.009963226955816883 + ], + "orientation": [ + 0.9999999999999076, + -4.3169695381470577e-07, + 6.469557295333955e-09, + 9.145325957306291e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.12098313220400238, + -0.06398927805319754, + 0.7986867989935894 + ], + "orientation": [ + 0.9999999999677925, + 3.1533853802921773e-06, + 6.733614064826478e-06, + 3.0213047117910907e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.12098331348101106, + -0.033989278054341904, + 0.7986869881979328 + ], + "orientation": [ + 0.9999999999677925, + 3.1533853802921773e-06, + 6.733614064826478e-06, + 3.0213047117910907e-06 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1561900943538908, + -0.1407505233754252, + 0.8254920127913898 + ], + "orientation": [ + 0.9974176678846352, + 0.0016161743619940684, + -0.013483979266717004, + -0.07052351434197794 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml", + "position": [ + 0.1505872240057255, + 0.0058888746701545435, + 0.8303198549806091 + ], + "orientation": [ + 0.9977632318331242, + 0.008675239366105855, + 0.0011778598444760816, + 0.06627130653643441 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.17742379711402723, + 0.14322403051127813, + 0.7973273213712996 + ], + "orientation": [ + 0.9972904705766003, + 0.0015879680307217617, + 0.00013420191831626371, + 0.0735471117344596 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28139377807290966, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example40/input/input.png b/Spatial/add_condiment_spatial/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..63dca544026f1845568a467b766051a074f71f3e --- /dev/null +++ b/Spatial/add_condiment_spatial/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff0604b617f47d1405bf76141f48cee4c1f852e11102b1642806da7fefba3894 +size 694432 diff --git a/Spatial/add_condiment_spatial/example40/input/input_mask.png b/Spatial/add_condiment_spatial/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3cadf88b0874d7beb734d336d8b20e7ea8ce7164 --- /dev/null +++ b/Spatial/add_condiment_spatial/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1673935ec0cb5cbab1c730187bd5c5a9365bd2d787d7ef0662d23d90d3039945 +size 568625 diff --git a/Spatial/add_condiment_spatial/example40/input/instruction.txt b/Spatial/add_condiment_spatial/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example40/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example40/output/operation_sequence.json b/Spatial/add_condiment_spatial/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example40/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example41/env_config/env_config.json b/Spatial/add_condiment_spatial/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7f52b2f3a087aea165dd38a582e43087caf343a1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example41/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303809591322199, + 0.010407036954887022, + 0.003981622535689057 + ], + "orientation": [ + 0.9999355656627031, + 0.010894343164841861, + -0.00012845861024317847, + -0.0031876806931782145 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000559191557, + 1.5385691300401923e-08, + 0.009963195984564487 + ], + "orientation": [ + 0.9999999999999113, + -4.2116943035025284e-07, + 4.635311232115169e-09, + 3.1823967142025735e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.16215919285353808, + -0.19016859752179868, + 0.7958169805954 + ], + "orientation": [ + 0.999999999371302, + 1.4360017711329258e-05, + 9.35780426219885e-06, + 3.104216106214122e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.16216105537513795, + -0.1601685975919883, + 0.7958178422138913 + ], + "orientation": [ + 0.999999999371302, + 1.4360017711329258e-05, + 9.35780426219885e-06, + 3.104216106214122e-05 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.15311369390528806, + -0.1352166179673099, + 0.7990842947745241 + ], + "orientation": [ + 0.9976117297359629, + 0.0140001143228739, + -0.015653980341983127, + 0.06580111238891993 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2576769461307142, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.1721484573701767, + 0.017040855514104995, + 0.7972534580151068 + ], + "orientation": [ + 0.9998227483241006, + 0.0020833745041029307, + 0.0007725962763426365, + -0.01869584390473396 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2780373334182737, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17311715000653757, + 0.1292088382925873, + 0.8249754755329513 + ], + "orientation": [ + 0.9992999240156583, + 0.007372563508993549, + -0.012573702783268784, + 0.03445590178652154 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.19959914649150284, + 0.30280607679677163, + 0.8298045557703024 + ], + "orientation": [ + 0.9979371139246767, + 0.0002532394301509093, + -0.0002932166081044607, + -0.0641978702567171 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example41/input/input.png b/Spatial/add_condiment_spatial/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..23a227ec08ff36abf942a705e5f3e4fe822ec3d4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07a011f5c348d2ad7b74c666575be1e356d953ff70d267cfb6a83adf934cd553 +size 666868 diff --git a/Spatial/add_condiment_spatial/example41/input/input_mask.png b/Spatial/add_condiment_spatial/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..45182ce4c713212c26951cf9608304700d9e77b0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6235d030fb5e82efea7ed14fe7ca7078341426dc7ed68a718649f5ce80281917 +size 584280 diff --git a/Spatial/add_condiment_spatial/example41/input/instruction.txt b/Spatial/add_condiment_spatial/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example41/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example41/output/operation_sequence.json b/Spatial/add_condiment_spatial/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example41/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example42/env_config/env_config.json b/Spatial/add_condiment_spatial/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..07b30f3f956ba26e68036d0722c410085f1688b7 --- /dev/null +++ b/Spatial/add_condiment_spatial/example42/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5297006289486265, + 0.007398168910022615, + 0.004009823847481324 + ], + "orientation": [ + 0.9999363707801004, + 0.010711392251177187, + -0.0002173916693575359, + -0.003531742916068259 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.21999999995038483, + -8.151877917777599e-09, + -0.010077885179398062 + ], + "orientation": [ + 0.9999999999998416, + -5.63634084788635e-07, + -7.781275182489295e-10, + -6.215859770998189e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.14782951893361695, + -0.06772001550276616, + 0.7410302199191691 + ], + "orientation": [ + 0.9999999930697163, + -0.00011629610175943055, + 1.8324340558074623e-05, + -6.191568148355788e-08 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.14782951534653904, + -0.037720016314253355, + 0.7410232421530438 + ], + "orientation": [ + 0.9999999930697163, + -0.00011629610175943055, + 1.8324340558074623e-05, + -6.191568148355788e-08 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1875738766082992, + -0.14316308608037556, + 0.825623537351343 + ], + "orientation": [ + 0.998196970200935, + 0.018664658621825606, + 0.0009738056213912377, + 0.057039380280783564 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.19389850929473856, + -0.013189747162735929, + 0.7972692059535179 + ], + "orientation": [ + 0.9986755738915408, + -0.00017867888587592734, + -0.00016784742604737584, + -0.05144937330521077 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.294550071245103, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1797186108633231, + 0.14793831935402474, + 0.82296007753944 + ], + "orientation": [ + 0.999854848184307, + 0.015875167143136876, + -0.0005330658769887408, + 0.006162586411972327 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1645040779274457, + 0.3143329035420772, + 0.8248401071156484 + ], + "orientation": [ + 0.999784079462006, + 0.009672383087983086, + -0.008981559413562065, + 0.01604902022584087 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example42/input/input.png b/Spatial/add_condiment_spatial/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1a3008bc72e2cd104250314a96b5fe898529ece4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3583da908034a537ba042fdf5d4ce79b877f0138dd97526c99907f5764099768 +size 730349 diff --git a/Spatial/add_condiment_spatial/example42/input/input_mask.png b/Spatial/add_condiment_spatial/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d686476702586188401a43db701d267da0d979f8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aec81e6df75ef2ddb27653ecc23766fd68f348f7807d24679d6155a67f653fd4 +size 609964 diff --git a/Spatial/add_condiment_spatial/example42/input/instruction.txt b/Spatial/add_condiment_spatial/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example42/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example42/output/operation_sequence.json b/Spatial/add_condiment_spatial/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example42/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example43/env_config/env_config.json b/Spatial/add_condiment_spatial/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2f8c14c15a6c6f690569f6e6b032166075ea04 --- /dev/null +++ b/Spatial/add_condiment_spatial/example43/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303505407656194, + 0.010555441576008, + 0.003973698591113627 + ], + "orientation": [ + 0.9999359057559921, + 0.010901462354727246, + -0.00011250723177968777, + -0.0030544787760426306 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.38910700398433, + 0.10903846236840666, + 0.0024632113500881975 + ], + "orientation": [ + 0.9999450888333882, + 0.005326404830931371, + -3.5060207226053706e-06, + 0.009024894308091566 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.1081245566789126, + -0.0716636036363358, + 0.9058662514144288 + ], + "orientation": [ + 0.999635556125632, + -0.02622146532614971, + 0.002845793710819638, + 0.005752490217508071 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.10847405755724057, + -0.041706843019589004, + 0.9042945190940337 + ], + "orientation": [ + 0.999635556125632, + -0.02622146532614971, + 0.002845793710819638, + 0.005752490217508071 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.19294650899653562, + -0.1620927055156214, + 0.7972478501863716 + ], + "orientation": [ + 0.9999529479881164, + 0.0018924470202845395, + 0.0006888368441786109, + 0.009489254868147124 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27681905137352775, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.19256892963924696, + -0.010088861346775963, + 0.7978983890689226 + ], + "orientation": [ + 0.999954233619871, + 0.009423731059916545, + 0.00029939954795305803, + 0.0016230583839656517 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28885136681946655, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml", + "position": [ + 0.1665807699302543, + 0.162256897772964, + 0.8298107460788859 + ], + "orientation": [ + 0.9993807761756425, + -0.0002483888720772421, + -0.00024225354908555884, + -0.035184425912016655 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example43/input/input.png b/Spatial/add_condiment_spatial/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..970fc2d560565067fb0306aab577974c3e42e092 --- /dev/null +++ b/Spatial/add_condiment_spatial/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56a77e89305c0126f89bedc0132de33c4454406756aa9a2fd56304ab6e366954 +size 830182 diff --git a/Spatial/add_condiment_spatial/example43/input/input_mask.png b/Spatial/add_condiment_spatial/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ef82fe1ac937cc323570e83d003f39fb31a532ac --- /dev/null +++ b/Spatial/add_condiment_spatial/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52600dfb5a4d7e819cb146910b2e64ebca07a0ae24d973ecae2bbdfb6b038421 +size 691569 diff --git a/Spatial/add_condiment_spatial/example43/input/instruction.txt b/Spatial/add_condiment_spatial/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example43/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example43/output/operation_sequence.json b/Spatial/add_condiment_spatial/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example43/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example44/env_config/env_config.json b/Spatial/add_condiment_spatial/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0c9a100aaceed11276269f02e4978570b7299ad8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example44/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296841785866552, + 0.007188630699608199, + 0.004023345753452368 + ], + "orientation": [ + 0.9999355517422743, + 0.010709501102179839, + -0.00023455052683442768, + -0.0037608422017560675 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.21999999995606098, + -4.737009921941403e-09, + -0.010077912610713452 + ], + "orientation": [ + 0.9999999999998425, + -5.619853134203185e-07, + -7.753749968610599e-10, + -6.0844734869084845e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.12313376016564967, + -0.05845712106859536, + 0.74100822493327 + ], + "orientation": [ + 0.99999999952313, + 3.07316360796065e-05, + 3.0489391107234025e-06, + -1.0755110407956997e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.12313375370696149, + -0.02845712112526203, + 0.7410100688314142 + ], + "orientation": [ + 0.99999999952313, + 3.07316360796065e-05, + 3.0489391107234025e-06, + -1.0755110407956997e-07 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.21286901701682137, + -0.145996612270673, + 0.8249174972356187 + ], + "orientation": [ + 0.9995745849675218, + 0.006250722001642449, + -0.008303364831222026, + 0.027251269584091763 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15310687554721525, + 0.0020041093097741976, + 0.7972144052531968 + ], + "orientation": [ + 0.9998781162153422, + 0.0006025362464022349, + -0.0006022327408308406, + 0.015589322610549275 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2730218201876854, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.15595076577548078, + 0.1678301582128707, + 0.8043444701213345 + ], + "orientation": [ + 0.9992265179968713, + -0.00022044324337626393, + -0.0002716567866459935, + -0.039322300787388166 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example44/input/input.png b/Spatial/add_condiment_spatial/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5cd3a6d1b7e4fe3a5cf40bfda70aed4d16442e2f --- /dev/null +++ b/Spatial/add_condiment_spatial/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6304047276faee064f7b93421b2aba00ab29a0ae75285a69d20024ec2628ab51 +size 733917 diff --git a/Spatial/add_condiment_spatial/example44/input/input_mask.png b/Spatial/add_condiment_spatial/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..178a06f975f1b0e841caf9614421677b190e54b3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4804993d3cf1062a78ac4f73ec8621b53b3293a347c305ca8d930fecde24e38f +size 610253 diff --git a/Spatial/add_condiment_spatial/example44/input/instruction.txt b/Spatial/add_condiment_spatial/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example44/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example44/output/operation_sequence.json b/Spatial/add_condiment_spatial/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example44/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example45/env_config/env_config.json b/Spatial/add_condiment_spatial/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2053d5206c0e20e707cad0622ccec6c1810ba4f4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example45/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296987350973169, + 0.007371651089934159, + 0.00401156342433165 + ], + "orientation": [ + 0.9999362720677057, + 0.010710785085931842, + -0.0002198056703571741, + -0.0035612598401808864 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000007670380137, + 2.764167674391772e-07, + 0.001987569889587291 + ], + "orientation": [ + 0.9999999999856984, + -5.348167870762967e-06, + 1.589097990395808e-08, + 1.6162069773157974e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.18976267619080062, + -0.04914643824621373, + 0.8158447087064168 + ], + "orientation": [ + 0.9999999979235433, + 2.1615403102685896e-07, + -9.25255425244502e-06, + -6.377504977065403e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.18975884968794232, + -0.019146438490251952, + 0.8158447217110636 + ], + "orientation": [ + 0.9999999979235433, + 2.1615403102685896e-07, + -9.25255425244502e-06, + -6.377504977065403e-05 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17154647722705155, + -0.16087795286991066, + 0.8044564850294142 + ], + "orientation": [ + 0.9988636278876714, + -0.00024852711345683444, + -7.13163308885514e-05, + 0.047659060327866674 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.20147138990854674, + -0.01875274331656427, + 0.797239206725855 + ], + "orientation": [ + 0.9975688765236146, + 0.001697279054201882, + 0.0003599245913066782, + -0.0696658186596163 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2918122248711956, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.19392387804993247, + 0.1367829352685299, + 0.8234265863088853 + ], + "orientation": [ + 0.997112314448166, + 0.01836507190195015, + 0.012420507482851267, + -0.07263255126818786 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example45/input/input.png b/Spatial/add_condiment_spatial/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7e83fa52b5a5c6047c9a694692ca5b9881e61c92 --- /dev/null +++ b/Spatial/add_condiment_spatial/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6514c6aca8e02e675fc77c90f6d8ef15b134a95caeae3488b45b61ca7e20d949 +size 893937 diff --git a/Spatial/add_condiment_spatial/example45/input/input_mask.png b/Spatial/add_condiment_spatial/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..df4d826d849ebe7e6fc3e066408dd2bc82f4b84a --- /dev/null +++ b/Spatial/add_condiment_spatial/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f4537a04f3c3d8fc6747852af2eb2cd606a611a0851baa65dee4c6f72735654 +size 745754 diff --git a/Spatial/add_condiment_spatial/example45/input/instruction.txt b/Spatial/add_condiment_spatial/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example45/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example45/output/operation_sequence.json b/Spatial/add_condiment_spatial/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example45/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example46/env_config/env_config.json b/Spatial/add_condiment_spatial/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..361fe84c6cf2df25e76e53a9a9a340a7f3d2fd8a --- /dev/null +++ b/Spatial/add_condiment_spatial/example46/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294763468148627, + 0.0035736687665103286, + 0.004465064278545442 + ], + "orientation": [ + 0.9999495128738881, + 0.009718116052757542, + -0.0004015653377906119, + -0.002523622186213886 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.2150000001124703, + 7.90770623480847e-09, + 0.009963179427561416 + ], + "orientation": [ + 0.9999999999999123, + -4.1795221361448814e-07, + 1.1973140512584561e-08, + -5.52046416944209e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.13744622670677173, + -0.09466494459906931, + 0.8196647260136452 + ], + "orientation": [ + 0.9999999999997776, + -8.720480704521713e-08, + -3.681914873671657e-07, + -5.497460498716056e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1374461937220068, + -0.06466494459908788, + 0.8196647207813689 + ], + "orientation": [ + 0.9999999999997776, + -8.720480704521713e-08, + -3.681914873671657e-07, + -5.497460498716056e-07 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.19433121913313964, + -0.15748933671880672, + 0.8255883434383626 + ], + "orientation": [ + 0.9976683352868246, + 0.0029287534449031296, + -0.012864462745884538, + -0.0669613378565217 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.16914448169178933, + 0.018286952755959245, + 0.8234853356227432 + ], + "orientation": [ + 0.9973512838362887, + -0.05656067006478836, + 0.001275309789684763, + -0.045713026774307164 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.14321442234135348, + 0.15972110909135442, + 0.7971542813874566 + ], + "orientation": [ + 0.9977038736172358, + -0.0004732867957722929, + -0.0007664690461014031, + 0.0677212602804541 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2569744874930019, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1705020092821584, + 0.31525383225276904, + 0.8244727676979711 + ], + "orientation": [ + 0.9997725251067434, + -0.0038485615442011094, + -0.000208171820678394, + 0.020977208589820655 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example46/input/input.png b/Spatial/add_condiment_spatial/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b799e3c4715622fa77a95b53ef23193656918f9d --- /dev/null +++ b/Spatial/add_condiment_spatial/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42a68a4422d0f6ab1e03947f6d7bbb178d9896ffcffe5e20b8b8370a439be9b0 +size 695412 diff --git a/Spatial/add_condiment_spatial/example46/input/input_mask.png b/Spatial/add_condiment_spatial/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..61471e003dc14a1f60ae737da1d1be94b84c66ec --- /dev/null +++ b/Spatial/add_condiment_spatial/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd12fd98eef6f2f01e599326da1dc2aecff0731760f5b07046655a54ea94d86c +size 582760 diff --git a/Spatial/add_condiment_spatial/example46/input/instruction.txt b/Spatial/add_condiment_spatial/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example46/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example46/output/operation_sequence.json b/Spatial/add_condiment_spatial/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example46/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example47/env_config/env_config.json b/Spatial/add_condiment_spatial/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ea46be32c66298e8f9bfec4ff9c13ed9ba5146d5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example47/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303834534055555, + 0.010417039097670869, + 0.003995360359617837 + ], + "orientation": [ + 0.99993489902963, + 0.010937180853406581, + -0.00011057412962360809, + -0.0032501616800828573 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500001984888828, + 1.870772959689429e-08, + 0.009963189138185922 + ], + "orientation": [ + 0.9999999999999166, + -4.0903651946576445e-07, + 8.136689923905059e-09, + -9.857824523843915e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.16556363593788082, + -0.1870640647353998, + 0.793029465387581 + ], + "orientation": [ + 0.9999999017501762, + 0.0004432661544444686, + -2.585553239671943e-06, + -2.8408572839156646e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.16556346555522583, + -0.157064076524977, + 0.7930560613546753 + ], + "orientation": [ + 0.9999999017501762, + 0.0004432661544444686, + -2.585553239671943e-06, + -2.8408572839156646e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.13390422016647935, + -0.15742205927919747, + 0.7972505789624468 + ], + "orientation": [ + 0.9997844364744104, + 0.0015521496814150943, + 0.00030780992828138533, + 0.0207020933231254 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2538281800487629, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.1546491679011494, + 0.00599659901810705, + 0.8247595828242882 + ], + "orientation": [ + 0.9998369937302983, + 0.0028830983135891665, + 0.0005063662861318233, + -0.01781620907086724 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16000197517488723, + 0.1401315864796433, + 0.8225547165431413 + ], + "orientation": [ + 0.9999486837539067, + 0.0004775486397599567, + 9.018277763067758e-05, + 0.0101189758964357 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example47/input/input.png b/Spatial/add_condiment_spatial/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ebb677292573a754a545779ff877e95262c00458 --- /dev/null +++ b/Spatial/add_condiment_spatial/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5f34b7b67f9d2fa8b3cc6f54f9b71048f8fc255c6dc7e26fbfb8532590ccc3 +size 686278 diff --git a/Spatial/add_condiment_spatial/example47/input/input_mask.png b/Spatial/add_condiment_spatial/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..39406194373abb1284a0087ac5ec97370cec8951 --- /dev/null +++ b/Spatial/add_condiment_spatial/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13eccd67c251c7ff3c839760e077164b4e8b5dfb16058cb52d0e61d91c457ee5 +size 599685 diff --git a/Spatial/add_condiment_spatial/example47/input/instruction.txt b/Spatial/add_condiment_spatial/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example47/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example47/output/operation_sequence.json b/Spatial/add_condiment_spatial/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example47/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example48/env_config/env_config.json b/Spatial/add_condiment_spatial/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c423730de718cea15e521e61629abeb803e8c049 --- /dev/null +++ b/Spatial/add_condiment_spatial/example48/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303496813351865, + 0.010479846971750768, + 0.00399119086868749 + ], + "orientation": [ + 0.9999351127680658, + 0.010941052175729655, + -0.00010137587331804399, + -0.003170702404204068 + ], + "class": "Counter", + "materials": [ + "stone2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000072810674, + 2.4264186009311505e-09, + 0.001983343838549615 + ], + "orientation": [ + 0.9999999999999213, + -3.953356226115102e-07, + 1.748048312374951e-08, + 1.5384085200883673e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.13405186668160451, + -0.08277294287347006, + 0.7755506573679302 + ], + "orientation": [ + 0.9999999999850866, + 3.029684434118817e-06, + 1.553056948764438e-06, + -4.270444239582697e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.13405161045466782, + -0.052772942875114984, + 0.7755508391485982 + ], + "orientation": [ + 0.9999999999850866, + 3.029684434118817e-06, + 1.553056948764438e-06, + -4.270444239582697e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.16025895696306566, + -0.15439332091874838, + 0.7972566053367843 + ], + "orientation": [ + 0.9983208361932303, + 0.0018835178112500857, + 0.0007795228105496174, + 0.05789086911847154 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26364150582617385, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1624569864912393, + 0.01769945467452852, + 0.8225407574113003 + ], + "orientation": [ + 0.9993677628022293, + 0.0005453065932150712, + 2.278145647167006e-05, + 0.03554963844247439 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1562064947320892, + 0.1598937600895127, + 0.8250157058597508 + ], + "orientation": [ + 0.9998914962248998, + 0.0067274122280825245, + -0.013103092010881725, + 0.00021605924890687796 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example48/input/input.png b/Spatial/add_condiment_spatial/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b52e534e7e6a9248f3ade0e880d1c38b5c775d8c --- /dev/null +++ b/Spatial/add_condiment_spatial/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14e9a82be2e95efaeb11ad5b4f5178c07b4d16ddf877895ea050050f4360058d +size 709804 diff --git a/Spatial/add_condiment_spatial/example48/input/input_mask.png b/Spatial/add_condiment_spatial/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2b1c7b06f8de8c822ed3d06ff19afff0b5c7a6b6 --- /dev/null +++ b/Spatial/add_condiment_spatial/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa17a3c8e76fb3951f7ac9edb37b8965ae0a3933cad1585d459893a6094cb692 +size 604015 diff --git a/Spatial/add_condiment_spatial/example48/input/instruction.txt b/Spatial/add_condiment_spatial/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example48/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example48/output/operation_sequence.json b/Spatial/add_condiment_spatial/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example48/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example49/env_config/env_config.json b/Spatial/add_condiment_spatial/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..9e981b1e977495ac743dda359a714b2071273d70 --- /dev/null +++ b/Spatial/add_condiment_spatial/example49/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5295139407653433, + 0.003831137915999824, + 0.0044140825156684885 + ], + "orientation": [ + 0.9999500485745232, + 0.009729997726513019, + -0.0003461432699429398, + -0.002260018780330768 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999985247759, + 6.191847447995835e-09, + 0.009963184617823506 + ], + "orientation": [ + 0.9999999999999127, + -4.1835426587838195e-07, + 7.948885450036018e-09, + -1.8602049753958158e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.15979322481807248, + -0.10811803998275847, + 0.838042893998012 + ], + "orientation": [ + 0.9999997176066278, + -0.0007348926518087682, + -0.0001572236354828609, + -4.282869879826205e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.15979319218831078, + -0.07811807238680206, + 0.8379988004553954 + ], + "orientation": [ + 0.9999997176066278, + -0.0007348926518087682, + -0.0001572236354828609, + -4.282869879826205e-07 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17773553629333733, + -0.16883765283690366, + 0.825605726481592 + ], + "orientation": [ + 0.9991978786486255, + 0.00318809873704394, + -0.014348228697848988, + -0.037250015620981305 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17500227797882664, + -0.0031635387901190757, + 0.8232573963719468 + ], + "orientation": [ + 0.9998200100531511, + 0.012944681137996338, + 4.459385467836869e-05, + 0.013870138389344316 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.21087572197836135, + 0.16548554860156264, + 0.7971804491336986 + ], + "orientation": [ + 0.9998261975584125, + 0.00041254612110058, + 0.00016247231203824438, + 0.018638081562535803 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2981973494557667, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example49/input/input.png b/Spatial/add_condiment_spatial/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..00f9144b3a2ba2475b07b0a9b75b9a6615697b84 --- /dev/null +++ b/Spatial/add_condiment_spatial/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:094a725fb9a42c376b4afdfd229617fa87c9dd5a3ab702a60a45684c2b92bc94 +size 673973 diff --git a/Spatial/add_condiment_spatial/example49/input/input_mask.png b/Spatial/add_condiment_spatial/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5f0cd1a32758034c72c4f21331768b8cc2ad99db --- /dev/null +++ b/Spatial/add_condiment_spatial/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fa0a9226ccda9c3df4d067e62e71b8f71db610333bfd5d2d7a4f3c3c9ccbff1 +size 575781 diff --git a/Spatial/add_condiment_spatial/example49/input/instruction.txt b/Spatial/add_condiment_spatial/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example49/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example49/output/operation_sequence.json b/Spatial/add_condiment_spatial/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example49/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example5/env_config/env_config.json b/Spatial/add_condiment_spatial/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..359f3ac9a060aa7aece0843e5b5f0a5482fdcbe5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example5/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5295115780968745, + 0.0038173124504947953, + 0.004416776996359231 + ], + "orientation": [ + 0.9999500183189002, + 0.009729327822664996, + -0.00034935257332001206, + -0.002275740962976286 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2500000178862932, + 1.605852746435175e-08, + 0.0019876236832636236 + ], + "orientation": [ + 0.9999999999855866, + -5.369052875942891e-06, + 4.875178849245455e-09, + -3.718638211875332e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.15463061845959303, + -0.13130079278987586, + 0.8282123721427325 + ], + "orientation": [ + 0.9999999910146801, + 0.00011599753101846114, + -5.692713526838233e-05, + 3.570033129034538e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.15463276087565564, + -0.10130079367367231, + 0.828219331872592 + ], + "orientation": [ + 0.9999999910146801, + 0.00011599753101846114, + -5.692713526838233e-05, + 3.570033129034538e-05 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.15176141887199823, + -0.1383280244295161, + 0.8255005264261784 + ], + "orientation": [ + 0.9991324245800518, + 0.0030842376216953433, + -0.013182931253486395, + -0.03938395554849817 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.17908118042274973, + -0.012143335207369639, + 0.825056211253175 + ], + "orientation": [ + 0.9999577341515573, + -0.0008251836450949154, + 0.00046993499914338573, + -0.009144842455390151 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.19771864796234595, + 0.15802438131546304, + 0.797268928700127 + ], + "orientation": [ + 0.9993919539350922, + 0.0002522288622374814, + -0.0004533577051232323, + 0.03486335120425224 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2958701889275429, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1601754157690186, + 0.2983030113370327, + 0.804021674680249 + ], + "orientation": [ + 0.9999491683952252, + -0.0011378478683336222, + -0.00036520221723211106, + -0.010011621010926019 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example5/input/input.png b/Spatial/add_condiment_spatial/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cc2e2f91c697835201b74201e23f337578aa15a9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5ce45cdde7088f2c21da6178a49bd6f3a749ee493ab12722440bb712004fb8 +size 894769 diff --git a/Spatial/add_condiment_spatial/example5/input/input_mask.png b/Spatial/add_condiment_spatial/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d213f8fb50f4fdc5344ce69cd642b89f07218805 --- /dev/null +++ b/Spatial/add_condiment_spatial/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a96dc67dd21e4e66f94d6a2076d0a37d52077c5ed8a02ca7b660e9e679135da +size 767663 diff --git a/Spatial/add_condiment_spatial/example5/input/instruction.txt b/Spatial/add_condiment_spatial/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example5/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example5/output/operation_sequence.json b/Spatial/add_condiment_spatial/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example5/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example50/env_config/env_config.json b/Spatial/add_condiment_spatial/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..72fb76a2597946d6ed7e669bf13e92d35deb3886 --- /dev/null +++ b/Spatial/add_condiment_spatial/example50/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5301470937992161, + 0.00040516791973208883, + 0.005766807643576842 + ], + "orientation": [ + 0.9999686385701266, + 0.007908256118577376, + -0.0002851392531043811, + -0.00031631784168465214 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2200000001348964, + -6.81995971680522e-09, + -0.010077925120414033 + ], + "orientation": [ + 0.9999999999998515, + -5.456572123696888e-07, + 6.93848529592499e-09, + -4.0836319405337474e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.1429718982452867, + -0.10569490880417091, + 0.7442371265577354 + ], + "orientation": [ + 0.9999999998810408, + 9.312123357109956e-06, + -1.2267893315984673e-05, + 8.379787905217575e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.14297194853086853, + -0.07569490880941597, + 0.74423768528452 + ], + "orientation": [ + 0.9999999998810408, + 9.312123357109956e-06, + -1.2267893315984673e-05, + 8.379787905217575e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18740659128282092, + -0.14799384222013579, + 0.82552321157324 + ], + "orientation": [ + 0.998323075541203, + 0.011492712337237046, + 0.000616504843091155, + 0.05673248035177907 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.18839180802141844, + -0.0014420114027759714, + 0.8266035870160201 + ], + "orientation": [ + 0.9986024415280302, + 0.0021737183856031764, + -0.013085194640345157, + 0.05115873731692782 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.17753527477096567, + 0.13357153381003078, + 0.8258637175173029 + ], + "orientation": [ + 0.9973328215429794, + -0.007385410767524755, + -7.856890146636569e-05, + -0.07261330875150322 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.181147158711118, + 0.28308726784038846, + 0.7972934164708257 + ], + "orientation": [ + 0.9980921248490784, + -0.0014492797139103173, + 0.0024095579483393247, + 0.06167822900388858 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2871785378735703, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example50/input/input.png b/Spatial/add_condiment_spatial/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8f75de4ec1b19240f2b1c44321dc1e34da2ecc5a --- /dev/null +++ b/Spatial/add_condiment_spatial/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f293503c4d0f767eaf5ea39b12caad48b12a9380c3e2bb55eff994f8ffd63f1d +size 703689 diff --git a/Spatial/add_condiment_spatial/example50/input/input_mask.png b/Spatial/add_condiment_spatial/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c9b3bd1ea7530dd157fe546e2d768761aaa6c12f --- /dev/null +++ b/Spatial/add_condiment_spatial/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2d959bcb4543cf6e73aaf0ab4eab53eea3eac96d14d28441fc1950daacfb5da +size 597498 diff --git a/Spatial/add_condiment_spatial/example50/input/instruction.txt b/Spatial/add_condiment_spatial/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example50/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example50/output/operation_sequence.json b/Spatial/add_condiment_spatial/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example50/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example51/env_config/env_config.json b/Spatial/add_condiment_spatial/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..40fcbb64a2a23f75279e7fb47838c716ebfceaf0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example51/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5301620319125367, + 0.00037656329342813406, + 0.0057943083551109 + ], + "orientation": [ + 0.9999686288373988, + 0.007907172121977488, + -0.0003127998361031965, + -0.0003465924843087714 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.219999999953578, + -5.916840572115212e-09, + -0.010077909827892648 + ], + "orientation": [ + 0.9999999999998426, + -5.621371197938937e-07, + -7.757047805838703e-10, + -6.19170115016907e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.1908191159130302, + -0.17043447331959355, + 0.7411227135792319 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321885922, + 0.00015928471153709036, + -1.1760388701957682e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.19081904672271116, + -0.14043447455623914, + 0.7411140999883973 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321885922, + 0.00015928471153709036, + -1.1760388701957682e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17342802119104964, + -0.15172735982928212, + 0.8255658815780851 + ], + "orientation": [ + 0.9995254259154497, + 0.011988123361633012, + -0.0006853762408362148, + -0.028367906271253858 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.19485137949288958, + -0.0027002500344925975, + 0.8262331004877106 + ], + "orientation": [ + 0.9979209339465749, + 0.006006435114526811, + -0.0039589985653087295, + 0.06404731578114245 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.20111290197801476, + 0.15806002890619963, + 0.8257641019978194 + ], + "orientation": [ + 0.9978534266942847, + -0.007956203097497953, + -0.00034498099288624614, + 0.06500091272328923 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.164235284904914, + 0.3148870508522024, + 0.797309126348898 + ], + "orientation": [ + 0.9995903738870994, + -0.014218183153360067, + -0.0005744562557265723, + 0.024831385383796523 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25810220151840524, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example51/input/input.png b/Spatial/add_condiment_spatial/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0111aeaccad014898fec4b88e0e33baff3e29db9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01943339d929fcd5b9db2eabfe6974dfd77cdfedf1b565278c9459b2bc16501d +size 671934 diff --git a/Spatial/add_condiment_spatial/example51/input/input_mask.png b/Spatial/add_condiment_spatial/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6bd454b5d341bde6e16cd22a771b7bbacea721a6 --- /dev/null +++ b/Spatial/add_condiment_spatial/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39f66de7fddaf0df97400d0c220be0a6b8aaac9955bc96aa4c585df366767432 +size 584423 diff --git a/Spatial/add_condiment_spatial/example51/input/instruction.txt b/Spatial/add_condiment_spatial/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example51/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example51/output/operation_sequence.json b/Spatial/add_condiment_spatial/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example51/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example52/env_config/env_config.json b/Spatial/add_condiment_spatial/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..87c82b452d5e6dae62bce8b1ca182abb1854dcb1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example52/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5457123652886385, + 0.019018128158564882, + 0.004867561398854431 + ], + "orientation": [ + 0.9994171097669814, + 0.008946697399048001, + -0.00035652502277213, + -0.03294343941624578 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3494362308949345, + 0.1332473651392715, + 0.007865859521383791 + ], + "orientation": [ + 0.9993143868674123, + 0.016233002829482576, + -0.0007716210763681767, + -0.033266355674466494 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.18619086973579985, + -0.38451686931999995, + 0.9254934816758519 + ], + "orientation": [ + 0.5152474832492842, + 0.7062139767358637, + 0.4656116293008317, + 0.13779572100766035 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1707215172223226, + -0.3855804198199062, + 0.9511755375349128 + ], + "orientation": [ + 0.5152474832492842, + 0.7062139767358637, + 0.4656116293008317, + 0.13779572100766035 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.20082931948740823, + -0.13497667549333997, + 0.8092853291125718 + ], + "orientation": [ + 0.9739508041687346, + 0.13666726865369927, + -0.006663142870212544, + 0.18082447639880783 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1798728405191378, + 0.013872702296231852, + 0.8260250166267703 + ], + "orientation": [ + 0.9761316276799051, + 0.1621908406607049, + -0.04791510098633794, + -0.13625461366949362 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1817771019399475, + 0.16579575096168384, + 0.826213995375097 + ], + "orientation": [ + 0.9875589259367947, + 0.04747061491659032, + -0.12782086137917348, + 0.07833093844894348 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example52/input/input.png b/Spatial/add_condiment_spatial/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0b5e6599b3b4796f89ea2ea6d7dd74f391a644b0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10d6b54d4e730602854eaa6da1d4ba8cb9f47eca6ea67d385eb9114a210dc986 +size 744046 diff --git a/Spatial/add_condiment_spatial/example52/input/input_mask.png b/Spatial/add_condiment_spatial/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0765e1395cac1ca37d6c716e9d2b3e8cdb4176d2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4008d606b93e9a6d0efb65bcfadb978ee5d3a85c47c4f6379597243a14b53da7 +size 644807 diff --git a/Spatial/add_condiment_spatial/example52/input/instruction.txt b/Spatial/add_condiment_spatial/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example52/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example52/output/operation_sequence.json b/Spatial/add_condiment_spatial/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example52/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example53/env_config/env_config.json b/Spatial/add_condiment_spatial/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4cdcb80fc921383f536ecb377e63bf524266767f --- /dev/null +++ b/Spatial/add_condiment_spatial/example53/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303215216896312, + 0.010632472318916992, + 0.003985377001838872 + ], + "orientation": [ + 0.9999355743943329, + 0.010946748798217994, + -8.753562656621873e-05, + -0.0030013478537405038 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500001069185395, + 1.2276102798827731e-08, + 0.009963201598332359 + ], + "orientation": [ + 0.9999999999999097, + -4.257911675883649e-07, + 1.0150798611848636e-08, + -2.1373563203493245e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.11940400884993056, + -0.07977553250070019, + 0.7958228534530849 + ], + "orientation": [ + 0.9999999954231659, + 3.2408777780258546e-05, + -9.000250158214643e-05, + -1.699453099502205e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.11940390705775733, + -0.049775532563893235, + 0.7958247979889201 + ], + "orientation": [ + 0.9999999954231659, + 3.2408777780258546e-05, + -9.000250158214643e-05, + -1.699453099502205e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.19219939318246085, + -0.1513504828983885, + 0.7972613354527023 + ], + "orientation": [ + 0.9983366945785274, + 0.0017410495950884299, + 0.0006133504334687242, + 0.057623231474592376 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28145840341173844, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.15320955117599275, + -0.007512978028232039, + 0.8234131617139069 + ], + "orientation": [ + 0.9988168425355861, + -0.03702541829631593, + -0.0019236233307442065, + 0.03146955894999327 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.15756388511783187, + 0.13733887292629782, + 0.8044779618571369 + ], + "orientation": [ + 0.9999673918438591, + 9.662232903425424e-05, + -2.1209159951594894e-05, + 0.008074989986737793 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example53/input/input.png b/Spatial/add_condiment_spatial/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d756a64860130ce11605972c708428052943adb6 --- /dev/null +++ b/Spatial/add_condiment_spatial/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5f0c785f54c9d3121c19a422f66e9ecad65563e8ed712c85670955a806803d9 +size 709440 diff --git a/Spatial/add_condiment_spatial/example53/input/input_mask.png b/Spatial/add_condiment_spatial/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8a6bb4a8311650959109acada4b9d9153c7a0ce2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:062a67498a30bce9b15c502df6e0cb7b8a5e4852e31986c6e37944493ae3e380 +size 600091 diff --git a/Spatial/add_condiment_spatial/example53/input/instruction.txt b/Spatial/add_condiment_spatial/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example53/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example53/output/operation_sequence.json b/Spatial/add_condiment_spatial/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example53/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example54/env_config/env_config.json b/Spatial/add_condiment_spatial/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..745e68be9378367e1799b22b5ac6f4f92bee3156 --- /dev/null +++ b/Spatial/add_condiment_spatial/example54/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530140277105339, + 0.000416925933037226, + 0.005755757002597095 + ], + "orientation": [ + 0.9999686394580235, + 0.007909087982346153, + -0.00027277025036567733, + -0.0003033548221536948 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.2150000568167584, + 8.975263807802958e-08, + 0.009963186795998636 + ], + "orientation": [ + 0.9999999999999244, + -3.869473225444498e-07, + 1.2987931463973784e-08, + 3.4784911610574626e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.1903900603835684, + -0.13182418955403874, + 0.8196950399521133 + ], + "orientation": [ + 0.9999999729197457, + 6.232140575756528e-05, + -0.00022338299041077143, + 1.9405929307735956e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.19039122557458785, + -0.10182418980967159, + 0.8196987789762603 + ], + "orientation": [ + 0.9999999729197457, + 6.232140575756528e-05, + -0.00022338299041077143, + 1.9405929307735956e-05 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.19366341286290972, + -0.15256382179762404, + 0.8275314749720386 + ], + "orientation": [ + 0.9998961115746795, + 0.0027783879489791203, + -0.013686240117413675, + 0.003568395954477516 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1696808113608694, + -0.01795460504610178, + 0.806261720556387 + ], + "orientation": [ + 0.9972736424459665, + -0.004842899041643852, + 4.013161805890159e-05, + 0.07363305508317317 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_7/model.xml", + "position": [ + 0.19987632141443729, + 0.13577208027595752, + 0.8334301101675127 + ], + "orientation": [ + 0.9971111435613382, + 0.007442931494467864, + 0.00268095458441992, + 0.07554325012259315 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.2098313448996687, + 0.2846789195360765, + 0.7973254128026065 + ], + "orientation": [ + 0.9998625420003975, + -0.001381145904552343, + -0.00034475172259371, + -0.016518797981228305 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29905281049920684, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example54/input/input.png b/Spatial/add_condiment_spatial/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..92dd41a90c3b6a53c6c6ac6111ed5280a6339c74 --- /dev/null +++ b/Spatial/add_condiment_spatial/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da92666afa3b975601163f7a35f3695e4b62fcf35edda7e8440263ea57256bcb +size 635948 diff --git a/Spatial/add_condiment_spatial/example54/input/input_mask.png b/Spatial/add_condiment_spatial/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8b8c00bca1072dca05d2f3653271a315834a0c10 --- /dev/null +++ b/Spatial/add_condiment_spatial/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19ab7f460846787a5b4492cd4f30219f9bf7708060e225d870b7427d9e7cc97f +size 550439 diff --git a/Spatial/add_condiment_spatial/example54/input/instruction.txt b/Spatial/add_condiment_spatial/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example54/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example54/output/operation_sequence.json b/Spatial/add_condiment_spatial/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example54/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example55/env_config/env_config.json b/Spatial/add_condiment_spatial/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3b2f77039f5b34833c421f2136b3c2207165dc1b --- /dev/null +++ b/Spatial/add_condiment_spatial/example55/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296934712375093, + 0.007292109526553854, + 0.004016906250362532 + ], + "orientation": [ + 0.9999359751041951, + 0.01070917562280376, + -0.00022703746890483198, + -0.003647972572799459 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.22000000029195244, + -5.6792304208391535e-09, + -0.010077950013583938 + ], + "orientation": [ + 0.9999999999998561, + -5.377121674710801e-07, + 1.461280043435491e-08, + -2.4332554215882946e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.1425651179498214, + -0.08841672405415094, + 0.7579597294292859 + ], + "orientation": [ + 0.9999999999846458, + -4.141828539386951e-06, + -3.670045286451603e-06, + 2.887046487029478e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.14256513527118828, + -0.05841672405518525, + 0.7579594809195099 + ], + "orientation": [ + 0.9999999999846458, + -4.141828539386951e-06, + -3.670045286451603e-06, + 2.887046487029478e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18433078668753886, + -0.1362099659000952, + 0.8230289178808119 + ], + "orientation": [ + 0.9989914660759669, + 0.015336655412656027, + -0.0009517338701264837, + -0.042189239277143735 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.17617852113825633, + -0.0005770560969737876, + 0.7972658221817813 + ], + "orientation": [ + 0.9986708749881593, + 4.5991810745650364e-05, + -0.00016336846393295978, + -0.05154080563866306 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28363385167462407, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.15231244081262296, + 0.1327861826179604, + 0.8325387099856347 + ], + "orientation": [ + 0.9993976760226837, + 0.011926013021547685, + -0.00033739188310197353, + 0.03258744452371122 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example55/input/input.png b/Spatial/add_condiment_spatial/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ae9a15b4da88e6172c0853ffb6bd38d37c312c02 --- /dev/null +++ b/Spatial/add_condiment_spatial/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d85c32e6abcfa89f5d334818cfa1a1040f6542b3ceb337d51b954e5c8442759 +size 714140 diff --git a/Spatial/add_condiment_spatial/example55/input/input_mask.png b/Spatial/add_condiment_spatial/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2204e835a0ffb48c204576935757fd02b977d6d2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afd223a52f09beb50daab0552ebd61d2f76d75f73c3c4bfee897b87682ce6377 +size 613915 diff --git a/Spatial/add_condiment_spatial/example55/input/instruction.txt b/Spatial/add_condiment_spatial/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example55/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example55/output/operation_sequence.json b/Spatial/add_condiment_spatial/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example55/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example56/env_config/env_config.json b/Spatial/add_condiment_spatial/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e72a8f5c26ecfdb88eb2ea786e4c60d1e5786213 --- /dev/null +++ b/Spatial/add_condiment_spatial/example56/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296708002247351, + 0.006960644669507889, + 0.004038648048467967 + ], + "orientation": [ + 0.9999346481574465, + 0.010708901052486433, + -0.00025175309228382025, + -0.003994430231155104 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.39396557493360257, + 0.10317630403186148, + 0.0016879672890843264 + ], + "orientation": [ + 0.9999076329390031, + 0.003871139833668646, + 0.0001511552879366393, + 0.013027548456576877 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.13201685636636754, + 0.041956096786709855, + 0.8396439315076132 + ], + "orientation": [ + 0.9956764447688697, + 0.07360107750208604, + 0.005849615164043707, + -0.056365598776093755 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.12862371014782578, + 0.07144044482661849, + 0.8440211200346395 + ], + "orientation": [ + 0.9956764447688697, + 0.07360107750208604, + 0.005849615164043707, + -0.056365598776093755 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.18283674096110805, + -0.1433282084249502, + 0.8257166510271655 + ], + "orientation": [ + 0.9997592561362906, + 0.02074372777825972, + -0.0006717022157903117, + -0.007118731895987211 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1438116190591125, + -0.004888553175088457, + 0.7972172934946712 + ], + "orientation": [ + 0.9996126920257511, + 0.0006774613615830068, + -0.0005713664720166626, + -0.02781511329277986 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2502010232865809, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.19943188830198802, + 0.1571793798781241, + 0.8325225281138627 + ], + "orientation": [ + 0.9985828644623208, + 0.011137561299707163, + 0.000468630063485081, + 0.05203842730506233 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.16350600815654115, + 0.3100823462888815, + 0.79717766833699 + ], + "orientation": [ + 0.9999846458428807, + 0.0005433745382530229, + -0.00021247367775431436, + -0.0055106875736721 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2667118109934699, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example56/input/input.png b/Spatial/add_condiment_spatial/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..858b7a803c859c1bc9ab4926094bc13924a692af --- /dev/null +++ b/Spatial/add_condiment_spatial/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad1a87bdc0331486a8c16a4e4655d607c7a4e66effe3f693ace10efe6a9c86f3 +size 885892 diff --git a/Spatial/add_condiment_spatial/example56/input/input_mask.png b/Spatial/add_condiment_spatial/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..92a4f82295993c9f9b1286c3849d0e4b33fb8c48 --- /dev/null +++ b/Spatial/add_condiment_spatial/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e334e294249b70357d14e3bc60c5843c462b292071b417a82bd792131d436ac3 +size 682657 diff --git a/Spatial/add_condiment_spatial/example56/input/instruction.txt b/Spatial/add_condiment_spatial/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example56/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example56/output/operation_sequence.json b/Spatial/add_condiment_spatial/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example56/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example57/env_config/env_config.json b/Spatial/add_condiment_spatial/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..bb2f8af63c2ca0affa2a610e59647541accd78ef --- /dev/null +++ b/Spatial/add_condiment_spatial/example57/env_config/env_config.json @@ -0,0 +1,166 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5300000424572524, + -0.00013994584085030048, + 0.004124506589903077 + ], + "orientation": [ + 0.9999408959366124, + 0.01087219543027228, + -1.9878658007127288e-08, + -9.79975233975228e-08 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2500000016479867, + 2.1927415777889676e-08, + 0.0019876308081285673 + ], + "orientation": [ + 0.9999999999855791, + -5.3704560417389505e-06, + 9.672614769091913e-10, + -2.2425139049069276e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.1821175408276739, + -0.15030770512620792, + 0.8274610627167771 + ], + "orientation": [ + 0.9999999999788319, + -4.601396416390132e-06, + -1.2766226101604865e-06, + -4.4195296816806335e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.18211727565554053, + -0.12030770512865026, + 0.8274607866333307 + ], + "orientation": [ + 0.9999999999788319, + -4.601396416390132e-06, + -1.2766226101604865e-06, + -4.4195296816806335e-06 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1840200829092903, + -0.1541758465055585, + 0.8046475181837803 + ], + "orientation": [ + 0.9986132128495763, + -0.00020607836925070448, + 8.816705645369305e-05, + 0.05264599586410284 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.2044889408733459, + 0.010478997341198684, + 0.8247628407493134 + ], + "orientation": [ + 0.9984250142602904, + 0.0011317093385480386, + 0.0026683694333503984, + 0.056027581938540905 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.20645778405755438, + 0.14783818111294253, + 0.8253199973950064 + ], + "orientation": [ + 0.9967521015314803, + -0.009041041328320969, + -0.008156394095798889, + -0.0796051562377055 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16020488283370365, + 0.30583722118552154, + 0.8231828734781163 + ], + "orientation": [ + 0.9971486972326912, + -0.013763937325656714, + -0.0007067929222686049, + 0.07419252037912609 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example57/input/input.png b/Spatial/add_condiment_spatial/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..95018641d39c7a928ccde2f167f1c45de9c1f5c5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e60addaec670a93b420dc627bee509d9c5aba64956790128f0706237aca2bd7 +size 858915 diff --git a/Spatial/add_condiment_spatial/example57/input/input_mask.png b/Spatial/add_condiment_spatial/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a7f938d6d2c8e683fb9d2a1d49e68cec36ef5ebf --- /dev/null +++ b/Spatial/add_condiment_spatial/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e09d26f62908357141f24d4e3426869f854706b74ecc4729def068de1f72e314 +size 741147 diff --git a/Spatial/add_condiment_spatial/example57/input/instruction.txt b/Spatial/add_condiment_spatial/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example57/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example57/output/operation_sequence.json b/Spatial/add_condiment_spatial/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example57/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example58/env_config/env_config.json b/Spatial/add_condiment_spatial/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dd14b5a2411ae6e0c613e2cb5734582c53adebc5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example58/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303505051054458, + 0.010475742781556933, + 0.003991353995391173 + ], + "orientation": [ + 0.9999351004606429, + 0.01094092112198866, + -0.00010172328920708946, + -0.0031750219117121256 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500003182607166, + -2.812952511292495e-09, + 0.009963193748322519 + ], + "orientation": [ + 0.9999999999999082, + -4.290782807888141e-07, + 1.726622169292585e-08, + 5.101783335956281e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.12942789409416916, + -0.05361133126802559, + 0.793027154879238 + ], + "orientation": [ + 0.9999999216344586, + 0.00039583988693471316, + -5.583198374161761e-06, + -3.2695775612335636e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.12942769805213403, + -0.023611340670019916, + 0.7930509052716882 + ], + "orientation": [ + 0.9999999216344586, + 0.00039583988693471316, + -5.583198374161761e-06, + -3.2695775612335636e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.15901532673957017, + -0.16983202990546079, + 0.7972547449320063 + ], + "orientation": [ + 0.9999474747505547, + 0.0020825213801711033, + 0.0008242414535122746, + 0.010001573412088047 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26317081713970286, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.15227462652527482, + -0.017427563041647318, + 0.8248093968267431 + ], + "orientation": [ + 0.9999622241181235, + 6.137057196192406e-05, + -3.812503101339627e-05, + -0.00869166939487941 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.20274837018237066, + 0.16284125815598793, + 0.825064556368401 + ], + "orientation": [ + 0.9990624765526562, + -0.009530868874172413, + -0.00044792680826191505, + -0.042227122143836976 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example58/input/input.png b/Spatial/add_condiment_spatial/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..36f78a0e3f6cbfeb7b71f483093276d46a57fdc2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4692c9613c8f55fa77b0efc5ec63650bf0d4e2dc49c107b7c7d15f004c07c64 +size 731140 diff --git a/Spatial/add_condiment_spatial/example58/input/input_mask.png b/Spatial/add_condiment_spatial/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a2f54d4db5c9718fb0fabb7044838fe04077c01a --- /dev/null +++ b/Spatial/add_condiment_spatial/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0edba5907272a1bbde7c558c15fa7ba6221cb490736703b8ce075dabb721de53 +size 599707 diff --git a/Spatial/add_condiment_spatial/example58/input/instruction.txt b/Spatial/add_condiment_spatial/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example58/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example58/output/operation_sequence.json b/Spatial/add_condiment_spatial/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example58/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example59/env_config/env_config.json b/Spatial/add_condiment_spatial/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..530d615d0fe5a3b2c5e3f304ae3d78b02d570455 --- /dev/null +++ b/Spatial/add_condiment_spatial/example59/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296704416620606, + 0.0069948758466290535, + 0.004036390444536458 + ], + "orientation": [ + 0.9999348202153644, + 0.010708985776541464, + -0.00024925162625808736, + -0.003951052787769959 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000000825168, + 1.1950033206677844e-09, + 0.0019833627019665455 + ], + "orientation": [ + 0.9999999999999183, + -4.043643037075056e-07, + 4.24644287607481e-09, + 5.4095645226409815e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_7/model.xml", + "position": [ + -0.1951481972186627, + -0.09929496751941455, + 0.7758942720165045 + ], + "orientation": [ + 0.9999999998572372, + -1.058456568136299e-05, + -1.2836830964730765e-05, + -2.9510212080633107e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1951480201492379, + -0.06929496752665903, + 0.7758936369448366 + ], + "orientation": [ + 0.9999999998572372, + -1.058456568136299e-05, + -1.2836830964730765e-05, + -2.9510212080633107e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17860045232182722, + -0.1645842912854728, + 0.823036894402227 + ], + "orientation": [ + 0.9998413721173167, + 0.014762143230664987, + -0.000620514838662057, + 0.00994608923819284 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.13351000633220841, + -0.012411627365460857, + 0.7972149284893959 + ], + "orientation": [ + 0.9972808225697951, + 0.0007053170604251385, + -0.0005820782541188727, + -0.07368937947399633 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2535177742150582, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1723712736677892, + 0.15536187446749464, + 0.8246697041091587 + ], + "orientation": [ + 0.9980498328075482, + 0.00444808518571915, + -0.0028692177637571477, + 0.062197374224568884 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example59/input/input.png b/Spatial/add_condiment_spatial/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ec7169ecd2fc77457584e68bdcc9d2760ae644e3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:025f5c570a196337266b3aa1ce9d956afe58c173b3d4740689a0422a41e4278d +size 694783 diff --git a/Spatial/add_condiment_spatial/example59/input/input_mask.png b/Spatial/add_condiment_spatial/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4288429405e8a0d35404229f52303ed0f3d70563 --- /dev/null +++ b/Spatial/add_condiment_spatial/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c9eaba8940d4cd634b61fafa8c54d0d201a791e3225a1755211ed2c18b3909 +size 596474 diff --git a/Spatial/add_condiment_spatial/example59/input/instruction.txt b/Spatial/add_condiment_spatial/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example59/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example59/output/operation_sequence.json b/Spatial/add_condiment_spatial/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example59/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example6/env_config/env_config.json b/Spatial/add_condiment_spatial/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f585281e6b4e49ae3556f17f65cc2cffce4adbcb --- /dev/null +++ b/Spatial/add_condiment_spatial/example6/env_config/env_config.json @@ -0,0 +1,166 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5300000492977787, + -0.00013983794644081832, + 0.004124507530316858 + ], + "orientation": [ + 0.9999408955095366, + 0.010872234709728678, + 1.8446141780013792e-08, + -5.2020548641278984e-08 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2500000000049371, + 1.6959985571457047e-08, + 0.0019876362168386357 + ], + "orientation": [ + 0.9999999999855377, + -5.378160610045022e-06, + 4.997998148088813e-10, + 1.500139467282416e-13 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.1807280299088077, + -0.04759806717339872, + 0.8187152121593915 + ], + "orientation": [ + 0.9999999999846045, + -1.4583281592869136e-06, + 4.9911611216803585e-06, + 1.937315326952252e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.18072814614816404, + -0.017598067173751494, + 0.8187151246602821 + ], + "orientation": [ + 0.9999999999846045, + -1.4583281592869136e-06, + 4.9911611216803585e-06, + 1.937315326952252e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18067144888692555, + -0.14489349331352583, + 0.8231861956790787 + ], + "orientation": [ + 0.9995703356228419, + -0.014231316789058613, + -0.0001451687427954819, + 0.02562406469168262 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1434716621173499, + -0.015668521069529633, + 0.8247469664079277 + ], + "orientation": [ + 0.9999772950323169, + -0.001134775223748821, + 0.0007221565063881617, + -0.0066030443752779855 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1641322171409043, + 0.14723763617965843, + 0.804656611901308 + ], + "orientation": [ + 0.9980143042911889, + -0.00046964865055159315, + 0.00015890042195868857, + 0.06298573339237555 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.1940793501662673, + 0.30544875981184616, + 0.8250416156723946 + ], + "orientation": [ + 0.9998515670653056, + -0.000254660526107098, + 0.002950112427850022, + 0.01697279652069648 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example6/input/input.png b/Spatial/add_condiment_spatial/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..65e64b5a5925ab009d0d953abe01aeaa14598808 --- /dev/null +++ b/Spatial/add_condiment_spatial/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77597838c87ba20fd08e39514d264a963934d4969e14f21faa32c83f4c30d60f +size 886586 diff --git a/Spatial/add_condiment_spatial/example6/input/input_mask.png b/Spatial/add_condiment_spatial/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0108ac393eae69798959bf24c1ad9c97f3c0c7b7 --- /dev/null +++ b/Spatial/add_condiment_spatial/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1534f3c8d137510ba61313ad214e98c576d83d222c35f6ba1e2b29cd4f2f42db +size 735453 diff --git a/Spatial/add_condiment_spatial/example6/input/instruction.txt b/Spatial/add_condiment_spatial/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example6/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example6/output/operation_sequence.json b/Spatial/add_condiment_spatial/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example6/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example60/env_config/env_config.json b/Spatial/add_condiment_spatial/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4eb49c2497ce14bfd2293dbb98bd2749d6a5bcd0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example60/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296954597691355, + 0.00732266370332486, + 0.004014839273051544 + ], + "orientation": [ + 0.9999360882284066, + 0.010709780641617626, + -0.00022427697608731233, + -0.0036152118772356146 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999987230342, + 6.797854603178916e-09, + 0.009963188285634719 + ], + "orientation": [ + 0.9999999999999093, + -4.2667069832991117e-07, + 8.094216757830345e-09, + -5.554010389038441e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.14455849402334314, + -0.06781549268106292, + 0.7986863772572323 + ], + "orientation": [ + 0.9999999999737407, + 4.211763903485017e-06, + 5.743876680819651e-06, + 1.3365053212133417e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1445585742122109, + -0.03781549268223447, + 0.7986866299635271 + ], + "orientation": [ + 0.9999999999737407, + 4.211763903485017e-06, + 5.743876680819651e-06, + 1.3365053212133417e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17409558140674272, + -0.17210016797897312, + 0.823025253495732 + ], + "orientation": [ + 0.9991876785074545, + 0.014611620099865618, + -0.001164284160089057, + -0.03753835530941981 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.18774644991283554, + -0.010241984256857645, + 0.79728468124176 + ], + "orientation": [ + 0.9984044357837731, + 0.0005382512129626771, + -0.00023231845411285989, + -0.05646449256881481 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28676555819468785, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1859525368265576, + 0.16718540620985708, + 0.8245272516162153 + ], + "orientation": [ + 0.9999313996100743, + 0.0015261574842578836, + 4.977733850827579e-05, + -0.011613114973478538 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example60/input/input.png b/Spatial/add_condiment_spatial/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2cb8e90cd1443dda534c304ce5f4cbec4e3d63b9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a5d84f2af910ae24682335d10f4cccd9e3d2c9557f97eb81ab8dd6668415b3 +size 711381 diff --git a/Spatial/add_condiment_spatial/example60/input/input_mask.png b/Spatial/add_condiment_spatial/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..979366da8e7c4961c93ef93ac24cdbf7f4fadafe --- /dev/null +++ b/Spatial/add_condiment_spatial/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78a9e3f4a8f5e6d33eee0527427d98324791f7d881bcc7ec38129f0b00d29de3 +size 589713 diff --git a/Spatial/add_condiment_spatial/example60/input/instruction.txt b/Spatial/add_condiment_spatial/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example60/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example60/output/operation_sequence.json b/Spatial/add_condiment_spatial/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example60/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example61/env_config/env_config.json b/Spatial/add_condiment_spatial/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ba42d4a6f895887dcfa56c6b34bbdde687461188 --- /dev/null +++ b/Spatial/add_condiment_spatial/example61/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296697544107567, + 0.006981594725501333, + 0.00403735105171894 + ], + "orientation": [ + 0.9999347749396352, + 0.010708792444238323, + -0.00025033506927894426, + -0.003962948796072792 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.21999999995576014, + -4.933585361906627e-09, + -0.010077920294030917 + ], + "orientation": [ + 0.9999999999998427, + -5.615283248269886e-07, + -7.746086305013419e-10, + -6.0894267254613e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_8/model.xml", + "position": [ + -0.1087632289247519, + -0.05216995813928963, + 0.74100822493327 + ], + "orientation": [ + 0.99999999952313, + 3.073163607960399e-05, + 3.0489391107235397e-06, + -1.0755110407958249e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.10876322246606372, + -0.0221699581959563, + 0.7410100688314142 + ], + "orientation": [ + 0.99999999952313, + 3.073163607960399e-05, + 3.0489391107235397e-06, + -1.0755110407958249e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.13876840164841298, + -0.15086519483269006, + 0.8230191195588327 + ], + "orientation": [ + 0.9992895902858583, + 0.01535252951983727, + -0.000818310682058603, + -0.0344085011485913 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.13477447602287826, + -0.0012165197629600494, + 0.7972116590850105 + ], + "orientation": [ + 0.9978198415724122, + 0.0006162035815214252, + -0.0005617434065118396, + 0.06599142748794212 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25220295720740515, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.20345011086374012, + 0.1530603084800363, + 0.8244994711637386 + ], + "orientation": [ + 0.9968796460153807, + -0.0003339945696762452, + 0.002448031827478435, + -0.07889782600330941 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.17682350465769398, + 0.29601404777893564, + 0.7971824762323515 + ], + "orientation": [ + 0.9994057256982919, + 0.0003474412920668039, + -0.00018293664844694439, + 0.034467974413978676 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25917158676157415, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example61/input/input.png b/Spatial/add_condiment_spatial/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7b9ea2b82cbb656cc30932dfe64b01bae72ca392 --- /dev/null +++ b/Spatial/add_condiment_spatial/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:017b78cf000a8c319d39e01fa28f38d5da8b90fa062230e4470101b644ad3339 +size 703857 diff --git a/Spatial/add_condiment_spatial/example61/input/input_mask.png b/Spatial/add_condiment_spatial/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a14370c96e79c26e1d5a5c56aa0ee646d2400d4c --- /dev/null +++ b/Spatial/add_condiment_spatial/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0794ab22b561f0aa62ae41d9aded49a819696f39b0961d8bf52329a96b9c63e0 +size 578646 diff --git a/Spatial/add_condiment_spatial/example61/input/instruction.txt b/Spatial/add_condiment_spatial/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example61/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example61/output/operation_sequence.json b/Spatial/add_condiment_spatial/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example61/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example62/env_config/env_config.json b/Spatial/add_condiment_spatial/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d9d4f68636ddeed32df912d476143d8c08083f16 --- /dev/null +++ b/Spatial/add_condiment_spatial/example62/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296816417891571, + 0.007143351984400277, + 0.004026563704305761 + ], + "orientation": [ + 0.9999353880157639, + 0.010708825104143858, + -0.00023856613065874623, + -0.0038057778250595326 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2200000101262108, + 1.0165599025379153e-08, + 0.0019833507932456706 + ], + "orientation": [ + 0.9999999999999203, + -3.9975111652422857e-07, + 1.0544186400704503e-08, + -5.160975620063367e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.16693519547410082, + -0.05723391331520132, + 0.7996848555376643 + ], + "orientation": [ + 0.9999999994069673, + 2.034425741408922e-05, + -2.4155855250470296e-05, + 1.3735765744408166e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.16693601964953098, + -0.02723391335135493, + 0.7996860761732005 + ], + "orientation": [ + 0.9999999994069673, + 2.034425741408922e-05, + -2.4155855250470296e-05, + 1.3735765744408166e-05 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.18118910963801066, + -0.15201976086715813, + 0.8252149856503546 + ], + "orientation": [ + 0.9985395541705109, + 0.008921922280443072, + -0.005048814200768088, + 0.05304401507187294 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.17369298624479776, + 0.007794345184697008, + 0.7972207200246492 + ], + "orientation": [ + 0.9991305066451431, + 0.00043693205764094124, + -0.0008057870269417064, + -0.041682016369930824 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2684373910149567, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1825992948634315, + 0.13098277960025317, + 0.8249075819040187 + ], + "orientation": [ + 0.9996506873741778, + -0.003966712743870598, + 0.00023516374981269296, + 0.026128779541944723 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example62/input/input.png b/Spatial/add_condiment_spatial/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c81dd003015f40572f047ecf6829081788467b48 --- /dev/null +++ b/Spatial/add_condiment_spatial/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0918f53336f83a3abc2a77688b9987a83eb7b3a063a52cf95b10c3b0a4ac9fb +size 708956 diff --git a/Spatial/add_condiment_spatial/example62/input/input_mask.png b/Spatial/add_condiment_spatial/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e5c5a197883247fa8d403cb8c3213d2950f2632f --- /dev/null +++ b/Spatial/add_condiment_spatial/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ee823c1d1b63b1faadea0738e4cfb891e6993b255ebbabf3cce1764f0aef928 +size 592544 diff --git a/Spatial/add_condiment_spatial/example62/input/instruction.txt b/Spatial/add_condiment_spatial/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example62/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example62/output/operation_sequence.json b/Spatial/add_condiment_spatial/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example62/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example63/env_config/env_config.json b/Spatial/add_condiment_spatial/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d397d4396ed7210b57702eadf8caf10238710dd2 --- /dev/null +++ b/Spatial/add_condiment_spatial/example63/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.529507176823736, + 0.0037912651584156055, + 0.004421857086158732 + ], + "orientation": [ + 0.9999499611326559, + 0.009728130636222477, + -0.0003553112811252446, + -0.0023048772241444394 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2200000196416268, + 9.21806192232178e-09, + -0.010077974283104201 + ], + "orientation": [ + 0.9999999999998547, + -5.360171779287902e-07, + 5.150984526189136e-08, + 2.8117983912700694e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.16878554967524076, + -0.04633379297368085, + 0.7770716107116562 + ], + "orientation": [ + 0.9999999976303087, + -4.456733158658271e-05, + 1.2316950710731347e-05, + -5.100419530963678e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.16878248945646546, + -0.016333793248941363, + 0.7770689366340744 + ], + "orientation": [ + 0.9999999976303087, + -4.456733158658271e-05, + 1.2316950710731347e-05, + -5.100419530963678e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17200795943755318, + -0.13951760019762116, + 0.8235972808574185 + ], + "orientation": [ + 0.9979687401130524, + 0.013903740609554514, + 0.0005608238426837487, + 0.06216723599168183 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1960649794429705, + 0.019374771683003278, + 0.8251466068317429 + ], + "orientation": [ + 0.9989917328358954, + -0.0036310642866949406, + -0.00022215645498376628, + 0.044746885301555836 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.18787191254093186, + 0.13264963146059092, + 0.7972909661767912 + ], + "orientation": [ + 0.9973506909175694, + -0.00041969585866689154, + -0.00045214448686775057, + -0.07274076399788752 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29150804968936583, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.20923444888623943, + 0.3078501716865188, + 0.8242025471634277 + ], + "orientation": [ + 0.99863778100967, + 0.00925546813018534, + -0.0018990603882194066, + 0.05131580866959949 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example63/input/input.png b/Spatial/add_condiment_spatial/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..67deae386316e3430ad9d577992b5ff973bf747b --- /dev/null +++ b/Spatial/add_condiment_spatial/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3812026f479c73298d1c5f8c8183f422b70f98aa50c568300141240d17102a2b +size 719009 diff --git a/Spatial/add_condiment_spatial/example63/input/input_mask.png b/Spatial/add_condiment_spatial/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2fcc7612d07d4bc53e94260a19863de082db1b9d --- /dev/null +++ b/Spatial/add_condiment_spatial/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:370b4fe0567fcd914d0fcd12855d4165beb30fa852941fa0b4d162cbcb1ca5ae +size 587649 diff --git a/Spatial/add_condiment_spatial/example63/input/instruction.txt b/Spatial/add_condiment_spatial/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example63/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example63/output/operation_sequence.json b/Spatial/add_condiment_spatial/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example63/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example64/env_config/env_config.json b/Spatial/add_condiment_spatial/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2f51c6c8c96113f249c708eb0e46a897b18916 --- /dev/null +++ b/Spatial/add_condiment_spatial/example64/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5301593511685727, + 0.00038211261987796205, + 0.005788934583335934 + ], + "orientation": [ + 0.999968631114041, + 0.007907325481953689, + -0.0003077684263661303, + -0.00034098420668654376 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.22000000033480735, + 9.45664500301509e-10, + -0.010077917486735689 + ], + "orientation": [ + 0.9999999999998346, + -5.762228099570267e-07, + 2.668875460018733e-09, + 2.107660314830156e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.10664899469114027, + -0.14956540128662768, + 0.7479282784107997 + ], + "orientation": [ + 0.9998382432441062, + -0.005905700000991482, + -0.00017208260318001922, + -0.016987655565624833 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.10562983925319226, + -0.11958480875067473, + 0.747574169124752 + ], + "orientation": [ + 0.9998382432441062, + -0.005905700000991482, + -0.00017208260318001922, + -0.016987655565624833 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.18676734854685534, + -0.16273790245299202, + 0.8276132228880927 + ], + "orientation": [ + 0.9984409299950641, + -0.006978450431727077, + -0.00027905624003617867, + 0.05537989407517839 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.15310741854475327, + -0.019214492330125937, + 0.8267232036671359 + ], + "orientation": [ + 0.9987485181666521, + 0.003036628687055049, + -0.013529328859315652, + 0.04805344531613385 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16745755495795908, + 0.1435253358482774, + 0.8237626304414842 + ], + "orientation": [ + 0.9994569661840227, + 0.010307548599670934, + -0.0005712018611378192, + -0.03129218618966192 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.15626527155769007, + 0.2965944795076518, + 0.7973196533481418 + ], + "orientation": [ + 0.9975161042150774, + 0.0021279099726669, + 0.00026900640805956077, + 0.07040611810258275 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26374051845251945, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example64/input/input.png b/Spatial/add_condiment_spatial/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fedfd5aa7ecdf8567b3250065a39440b71b6bfb8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:211644e705ff0d08dde50683200e6547cd2bdfbe2a37807d750ba43785748382 +size 696294 diff --git a/Spatial/add_condiment_spatial/example64/input/input_mask.png b/Spatial/add_condiment_spatial/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bd733995b42f91bdffea919be7d2886c6d9f389c --- /dev/null +++ b/Spatial/add_condiment_spatial/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b993f16124e352132697de26aaee60c347c4fadafbdd4427de2e981f87c959df +size 599617 diff --git a/Spatial/add_condiment_spatial/example64/input/instruction.txt b/Spatial/add_condiment_spatial/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example64/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example64/output/operation_sequence.json b/Spatial/add_condiment_spatial/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example64/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example65/env_config/env_config.json b/Spatial/add_condiment_spatial/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c6d34d61e67e519a17ab340c2fe03719f93b3433 --- /dev/null +++ b/Spatial/add_condiment_spatial/example65/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296990823407844, + 0.007376025832210588, + 0.004011279964437095 + ], + "orientation": [ + 0.9999362879836824, + 0.010710877117892342, + -0.00021942259648514363, + -0.0035565346200959777 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.220000000112261, + 1.0202248959618113e-09, + 0.001983339880422453 + ], + "orientation": [ + 0.9999999999999176, + -4.0590176281657765e-07, + 2.0544904717670025e-08, + 2.56006610264233e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.12368442234310519, + -0.008607311688947445, + 0.7725942530830949 + ], + "orientation": [ + 0.9999999964770394, + 8.335349831534317e-05, + 9.659437493809855e-06, + -2.193631017338544e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.12368429067693573, + 0.021392687893895528, + 0.7725992542917048 + ], + "orientation": [ + 0.9999999964770394, + 8.335349831534317e-05, + 9.659437493809855e-06, + -2.193631017338544e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.20328811089478108, + -0.15650039115865205, + 0.8230233542814908 + ], + "orientation": [ + 0.998735199400778, + 0.014546718691600896, + 3.0384486785567495e-05, + 0.048128926125352856 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.1746737481267288, + -0.019954708315553082, + 0.7972266461609835 + ], + "orientation": [ + 0.9992884367530163, + 0.0005140136028560395, + -0.0006773297225670833, + 0.037708052007178514 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29226471756155065, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.16592784618374148, + 0.16284211588091357, + 0.8043469028264262 + ], + "orientation": [ + 0.9998504384133317, + -7.373124143255021e-05, + -0.0002142832812097887, + 0.01729304632061557 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example65/input/input.png b/Spatial/add_condiment_spatial/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a8bf854c2064847bc1c06a5831b151fff3112ee9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8002b50955a0b135292fc1bb509ec0ac5dce87b46a7b59a2af51dfa178436442 +size 773114 diff --git a/Spatial/add_condiment_spatial/example65/input/input_mask.png b/Spatial/add_condiment_spatial/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8966dc94218e72e0d6301c3d72504cf890b5f0fb --- /dev/null +++ b/Spatial/add_condiment_spatial/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:069e90343579a717eeca7844568328734c431a1474a0ef664fe3d76de85f5a38 +size 612491 diff --git a/Spatial/add_condiment_spatial/example65/input/instruction.txt b/Spatial/add_condiment_spatial/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example65/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example65/output/operation_sequence.json b/Spatial/add_condiment_spatial/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example65/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example66/env_config/env_config.json b/Spatial/add_condiment_spatial/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4ca70bfcf59308dddd0e16bcb1cc3275759bbc --- /dev/null +++ b/Spatial/add_condiment_spatial/example66/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530382666286805, + 0.010387706427422413, + 0.003978965614437696 + ], + "orientation": [ + 0.9999359291473234, + 0.010869466105074723, + -0.00013399440151525886, + -0.0031582198101341025 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2200000350328219, + 1.1607617388815379e-08, + 0.001983343364066162 + ], + "orientation": [ + 0.9999999999999117, + -4.148439113721116e-07, + 4.0092656936507046e-08, + 5.021022036426496e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.12717195941333578, + -0.12438972564049548, + 0.7874579502428082 + ], + "orientation": [ + 0.9999999964515173, + -1.4706296722024258e-05, + -8.292279406946057e-05, + 2.1213020691411823e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.12717208661829024, + -0.09438972565374201, + 0.7874570678544537 + ], + "orientation": [ + 0.9999999964515173, + -1.4706296722024258e-05, + -8.292279406946057e-05, + 2.1213020691411823e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.1501588700612492, + -0.14406219592550906, + 0.7972410907492852 + ], + "orientation": [ + 0.9997163106635037, + 0.001687665870080147, + 0.0005133722931985927, + 0.02375260882834944 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2595335744738419, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.153142877375972, + 0.0012303159611696379, + 0.8247755922356282 + ], + "orientation": [ + 0.9986829163532418, + -4.889803896951932e-07, + -9.877941830231284e-05, + -0.05130714206201241 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.19989044665297265, + 0.1330884977727645, + 0.7972502923047806 + ], + "orientation": [ + 0.9999462722547492, + 0.0019317712123343674, + 0.0007479501604196401, + 0.010156841751820722 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2958574978345292, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example66/input/input.png b/Spatial/add_condiment_spatial/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..04e450a48439a2d00abcd748b0f0cd824467615b --- /dev/null +++ b/Spatial/add_condiment_spatial/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e74d3b1b0146ac51a9e48db4c4c88661cdb43af7dce7f109bda8977ff22cf7ec +size 668601 diff --git a/Spatial/add_condiment_spatial/example66/input/input_mask.png b/Spatial/add_condiment_spatial/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..47708f954f562bc335ff2f062dc7071982af00ca --- /dev/null +++ b/Spatial/add_condiment_spatial/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb56767bba159dabebed8bc9643063367b1325b28604f32d6fc9d9f9073a4fc9 +size 580769 diff --git a/Spatial/add_condiment_spatial/example66/input/instruction.txt b/Spatial/add_condiment_spatial/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example66/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example66/output/operation_sequence.json b/Spatial/add_condiment_spatial/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example66/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example67/env_config/env_config.json b/Spatial/add_condiment_spatial/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..851b5bf16cf46361fd55aa4506411dcc147ff9eb --- /dev/null +++ b/Spatial/add_condiment_spatial/example67/env_config/env_config.json @@ -0,0 +1,166 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5300000600601535, + -0.0001398458146848339, + 0.004124505016264159 + ], + "orientation": [ + 0.9999408955299512, + 0.010872232832127498, + 1.4590404232361767e-08, + -4.704360226829196e-08 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000975366235, + 2.1548310335940816e-08, + 0.001983330784100904 + ], + "orientation": [ + 0.9999999999999332, + -3.6475047497479384e-07, + 2.3007081197648777e-08, + 2.3470944759981582e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.14527669554958716, + -0.17969794097652647, + 0.7881905556569978 + ], + "orientation": [ + 0.9999999993516411, + -1.1678484488390615e-05, + -3.405164429079341e-05, + 9.041851355443896e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.14527674977683497, + -0.14969794098475872, + 0.7881898549460816 + ], + "orientation": [ + 0.9999999993516411, + -1.1678484488390615e-05, + -3.405164429079341e-05, + 9.041851355443896e-07 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.1621444579251851, + -0.1649379828659396, + 0.8046473713124289 + ], + "orientation": [ + 0.997833094115444, + -0.00013894282421503617, + -0.00013341399498818638, + -0.06579573833916882 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18180198509963175, + -0.003866881243402803, + 0.8231637274560887 + ], + "orientation": [ + 0.999840149178717, + -0.01332882424039058, + 0.0005163510935738322, + -0.011905961372235381 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.20728724715883887, + 0.1730659450004935, + 0.8255091139885462 + ], + "orientation": [ + 0.9974088931252296, + -0.01590781766324223, + -0.0018557926106479916, + 0.07013556362989858 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.18600623575940647, + 0.29763965348140736, + 0.8248132601261022 + ], + "orientation": [ + 0.9997540711520182, + -0.0024644675438619695, + -0.0049535986898865715, + -0.021475229328477816 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example67/input/input.png b/Spatial/add_condiment_spatial/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bc6ec06fa6583846aeeea3ce3c3f9dbd2cbc2253 --- /dev/null +++ b/Spatial/add_condiment_spatial/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:424c66854d8583079ddab48a02bdd486bd1942014196120014becdded819fce9 +size 705769 diff --git a/Spatial/add_condiment_spatial/example67/input/input_mask.png b/Spatial/add_condiment_spatial/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b96dfc1b9964198a0232f2a3a2a191b4bef69c8a --- /dev/null +++ b/Spatial/add_condiment_spatial/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:715a4235a1a4d0efbfa16e3927456353007db243f55de4e75c8dd5ce76ee2a96 +size 612517 diff --git a/Spatial/add_condiment_spatial/example67/input/instruction.txt b/Spatial/add_condiment_spatial/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example67/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example67/output/operation_sequence.json b/Spatial/add_condiment_spatial/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example67/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example68/env_config/env_config.json b/Spatial/add_condiment_spatial/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..410dae22b31d232c95e10926784b85f1789d9265 --- /dev/null +++ b/Spatial/add_condiment_spatial/example68/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296725567233268, + 0.007035160266121014, + 0.004033480370029303 + ], + "orientation": [ + 0.9999349591774042, + 0.0107095461139447, + -0.0002459217870385156, + -0.003914404091335204 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.21999999995986938, + 1.8484271914569888e-09, + 0.0019833482951637418 + ], + "orientation": [ + 0.9999999999999261, + -3.8620862416088936e-07, + 1.1804074036793619e-08, + -6.020086423571667e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.15179332627236372, + -0.14527105257445447, + 0.7881874181607997 + ], + "orientation": [ + 0.9999999977090006, + 6.764729049714583e-05, + 2.264813408159002e-06, + 8.439452707645985e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.15179337689988734, + -0.1152710528490666, + 0.7881914769983349 + ], + "orientation": [ + 0.9999999977090006, + 6.764729049714583e-05, + 2.264813408159002e-06, + 8.439452707645985e-07 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17324991369034298, + -0.13227063263973113, + 0.80447730419378 + ], + "orientation": [ + 0.9979324617369558, + -0.0009778956681033473, + -0.000331709474862786, + -0.06426301814035278 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.15849589482719553, + -0.0183523833244869, + 0.7972285835885337 + ], + "orientation": [ + 0.9980086916259414, + 0.0015341142460883793, + 0.00020321285226653169, + -0.06305756605749065 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2575220724351883, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.19025184801330444, + 0.1293071963941611, + 0.8229466061274218 + ], + "orientation": [ + 0.9995391307370692, + 0.014814198203119962, + -0.00113995461662083, + -0.02647198822254577 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.19976489381628706, + 0.2967761851296295, + 0.8246291946522739 + ], + "orientation": [ + 0.998368403910032, + 0.004977579178106834, + -0.0018972117276745855, + 0.05685203925384897 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example68/input/input.png b/Spatial/add_condiment_spatial/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ad518712c637d7a958229e0b9aa581035b0d1590 --- /dev/null +++ b/Spatial/add_condiment_spatial/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d46dc327c8e5b97ddf8f58d7d1353a77113833622e3f59639b2b94f36cbcbfc +size 686991 diff --git a/Spatial/add_condiment_spatial/example68/input/input_mask.png b/Spatial/add_condiment_spatial/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8b517ee9966f2753851210a6ee9c8f22504e65c8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3408390acf85a005f5591683ca6ca2edf390f7ca7c0a5ce80c4b620f7b966d8 +size 597207 diff --git a/Spatial/add_condiment_spatial/example68/input/instruction.txt b/Spatial/add_condiment_spatial/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example68/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example68/output/operation_sequence.json b/Spatial/add_condiment_spatial/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example68/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example69/env_config/env_config.json b/Spatial/add_condiment_spatial/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf910069f91db49b6812ff3bde2f0f5bf90f764 --- /dev/null +++ b/Spatial/add_condiment_spatial/example69/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303631357192069, + 0.010448625946672821, + 0.003992993622955971 + ], + "orientation": [ + 0.9999350094524797, + 0.010939408691714982, + -0.00010538481369583022, + -0.0032085982589257368 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000172410727, + 6.063743360623882e-09, + 0.009963194524805487 + ], + "orientation": [ + 0.9999999999999114, + -4.219759797435613e-07, + 8.86548116545838e-09, + 2.966767867095522e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.16024172173724913, + -0.07656127045654663, + 0.7986855762238684 + ], + "orientation": [ + 0.9999999999015461, + 9.69813941767502e-06, + 8.728000403222847e-06, + 5.165022873255123e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16024203163354278, + -0.046561270463790466, + 0.7986861581149381 + ], + "orientation": [ + 0.9999999999015461, + 9.69813941767502e-06, + 8.728000403222847e-06, + 5.165022873255123e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.14632356949069175, + -0.1691630703503738, + 0.7972870967268673 + ], + "orientation": [ + 0.9989935124597586, + 5.4688267019030946e-05, + -6.567744140242125e-05, + -0.0448548186818527 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2591655361169688, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.18462938537180923, + -0.007781805062198959, + 0.8234172563132134 + ], + "orientation": [ + 0.9962663022134567, + -0.03705599529470848, + 0.0020274676502661593, + -0.0779499689645256 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.20352032303047374, + 0.12971443169207908, + 0.8246092500326604 + ], + "orientation": [ + 0.9999220523269253, + 0.003223523333330115, + 0.004442437871695766, + -0.011214406510584031 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example69/input/input.png b/Spatial/add_condiment_spatial/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..aa536118d51b125f826b03ac93bc75b16b974e42 --- /dev/null +++ b/Spatial/add_condiment_spatial/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6b9acb022be9ebf59de9b04773f9debccb19e30963b7620a47ed92b7b417c1e +size 717764 diff --git a/Spatial/add_condiment_spatial/example69/input/input_mask.png b/Spatial/add_condiment_spatial/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6e0272ec7c55ab3899c61742d772f2544a6a2648 --- /dev/null +++ b/Spatial/add_condiment_spatial/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73c95e10e943d67471a4a345d9707f68b07a6faf62372af03d5ea379c3b67125 +size 604212 diff --git a/Spatial/add_condiment_spatial/example69/input/instruction.txt b/Spatial/add_condiment_spatial/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example69/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example69/output/operation_sequence.json b/Spatial/add_condiment_spatial/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example69/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example7/env_config/env_config.json b/Spatial/add_condiment_spatial/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a41c075d0a37203f82cdaca6b41b24ca7c45dd04 --- /dev/null +++ b/Spatial/add_condiment_spatial/example7/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5299999998072157, + -0.00013970835561445794, + 0.0041245082968296275 + ], + "orientation": [ + 0.9999408957818151, + 0.010872209667781567, + -8.843309589642113e-09, + 3.500972433031139e-08 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.22000000035151251, + -5.048684050171778e-09, + -0.010077985584764037 + ], + "orientation": [ + 0.9999999999998692, + -5.127619135042918e-07, + 1.774147740666503e-08, + -3.1788943030774177e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.16765050701296422, + -0.08912610573671557, + 0.757947962025983 + ], + "orientation": [ + 0.9999999997655904, + 2.1522461040126478e-05, + -2.358212487784969e-06, + 2.0136904262887675e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16765051909815204, + -0.05912610576451102, + 0.7579492533736166 + ], + "orientation": [ + 0.9999999997655904, + 2.1522461040126478e-05, + -2.358212487784969e-06, + 2.0136904262887675e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1705652879697273, + -0.13972335467357355, + 0.8231760381098627 + ], + "orientation": [ + 0.9993740158957204, + -0.013713064504110702, + -0.00023460781954275298, + 0.032610936410022745 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.19385719603925614, + 0.013103318657683202, + 0.8250980117073694 + ], + "orientation": [ + 0.9996420227744255, + 0.002079885713330092, + 0.00018334262460278688, + -0.026673334331418268 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_4/model.xml", + "position": [ + 0.18495221972050216, + 0.1578361066342889, + 0.8237157687123268 + ], + "orientation": [ + 0.9990846448555695, + -0.032017357080215775, + -0.004920720136424853, + -0.027938285071878306 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example7/input/input.png b/Spatial/add_condiment_spatial/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..139cfb45eb1bab0f4e9a0a57afe928682ae62878 --- /dev/null +++ b/Spatial/add_condiment_spatial/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b0cd75d72368dde4f5516a908f0ebc94a3d492f41cfeef9350ffc3ba7588000 +size 731979 diff --git a/Spatial/add_condiment_spatial/example7/input/input_mask.png b/Spatial/add_condiment_spatial/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c9bc98b23da3e0cd39c03113a70e667f78a0f499 --- /dev/null +++ b/Spatial/add_condiment_spatial/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b350f807bcea50e375c689f0ab2876a608831b33b383ad22bc3ef919064de8da +size 619894 diff --git a/Spatial/add_condiment_spatial/example7/input/instruction.txt b/Spatial/add_condiment_spatial/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example7/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example7/output/operation_sequence.json b/Spatial/add_condiment_spatial/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example7/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example70/env_config/env_config.json b/Spatial/add_condiment_spatial/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3e813eda6936e29ac8af4f7866cbc49b60c58cca --- /dev/null +++ b/Spatial/add_condiment_spatial/example70/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296787657337793, + 0.007090857863570472, + 0.004030356087241316 + ], + "orientation": [ + 0.9999352008014156, + 0.010708121611924708, + -0.0002431615589852166, + -0.003856319778332153 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2200000016046832, + 1.904419807034978e-09, + 0.001983346230953696 + ], + "orientation": [ + 0.9999999999999182, + -4.0273292612631906e-07, + 2.107821819842666e-08, + 1.6151044871454983e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.10977390780951368, + -0.049635866320580126, + 0.7785479286229131 + ], + "orientation": [ + 0.9999999998911311, + 9.52935570704455e-06, + 1.1239104104841272e-05, + 7.81384555147151e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1097739546861609, + -0.01963586632606531, + 0.7785485003847824 + ], + "orientation": [ + 0.9999999998911311, + 9.52935570704455e-06, + 1.1239104104841272e-05, + 7.81384555147151e-07 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_7/model.xml", + "position": [ + 0.17983021332470697, + -0.14757604398592178, + 0.8324268943682656 + ], + "orientation": [ + 0.9999736012080517, + 0.005819042031271373, + 0.0032604294077676235, + -0.0028818807950796604 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17395563703623146, + -0.00912115450992281, + 0.7972228164015669 + ], + "orientation": [ + 0.9998588052899929, + 0.0006810658944566792, + -0.000528706554416635, + 0.016781719300907275 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26313500827235764, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1447142735825152, + 0.15906562424551235, + 0.8248875697471838 + ], + "orientation": [ + 0.9994714439083383, + 0.008381925207254268, + -0.01129024230415284, + 0.02931051978923408 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.20815496422929797, + 0.31076426293735177, + 0.8248321444541666 + ], + "orientation": [ + 0.9999834296101869, + -0.0028016645962425733, + 0.0010448424843026063, + 0.004919297177569622 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example70/input/input.png b/Spatial/add_condiment_spatial/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a35ef19f2885ab8ee1598bb543390a886b65d119 --- /dev/null +++ b/Spatial/add_condiment_spatial/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:136ac03ace1645c40d09f6e9f79b9c4c1eb376c994ef2013324a1e40e8e46ba3 +size 721802 diff --git a/Spatial/add_condiment_spatial/example70/input/input_mask.png b/Spatial/add_condiment_spatial/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4115fa5368c3fb7120f75ffa6df22a9aefad29ca --- /dev/null +++ b/Spatial/add_condiment_spatial/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ca434119cae3e73c4de0e612267affb1358a46998fefdeb08e0d732214f53a5 +size 586871 diff --git a/Spatial/add_condiment_spatial/example70/input/instruction.txt b/Spatial/add_condiment_spatial/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example70/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example70/output/operation_sequence.json b/Spatial/add_condiment_spatial/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example70/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example71/env_config/env_config.json b/Spatial/add_condiment_spatial/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..473b89481c0fa79fb31b270cb42c60527028f2c4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example71/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294870211535926, + 0.003656274232457338, + 0.004448532026828136 + ], + "orientation": [ + 0.9999496777334785, + 0.009721875711679335, + -0.00038472768010000086, + -0.0024452235013345588 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.21999999995952352, + -2.6835907011251816e-09, + -0.010077961153381321 + ], + "orientation": [ + 0.9999999999998443, + -5.590875030105376e-07, + -7.705267761958453e-10, + -6.0011661998664796e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.15216195864498563, + -0.13042854196329176, + 0.7411227135792319 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321885969, + 0.00015928471153709486, + -1.1760388701957597e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1521618894546666, + -0.10042854319993735, + 0.7411140999883973 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321885969, + 0.00015928471153709486, + -1.1760388701957597e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.165029676926292, + -0.16890448237852032, + 0.8236562958876608 + ], + "orientation": [ + 0.9999376916550813, + 0.011078320424069548, + 0.0001820145743216698, + 0.0013603289249461351 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.14566037392951817, + 0.014062399504181526, + 0.8251618548149676 + ], + "orientation": [ + 0.9978658403171851, + -0.004254109429784083, + -0.0003747238592950916, + 0.06515770762593627 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.16583949882595486, + 0.1346332746970618, + 0.7973164754908051 + ], + "orientation": [ + 0.999634626627055, + 0.0010328711330559752, + -0.00011158154388514004, + 0.027009886615289695 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2697371483570914, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example71/input/input.png b/Spatial/add_condiment_spatial/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..abcca768754d761d7748b1dbb5faa9f4b7f64e06 --- /dev/null +++ b/Spatial/add_condiment_spatial/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a194b5c2b76907d520cf5ba26ada3a0fb3764e9d459e9b467d27a6f58954a356 +size 696235 diff --git a/Spatial/add_condiment_spatial/example71/input/input_mask.png b/Spatial/add_condiment_spatial/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..506926225783459a2e5a3821ae4e9cbb6d128739 --- /dev/null +++ b/Spatial/add_condiment_spatial/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:767529b0046a71fccd40eb336078485441a345d919fc259d1b166aa24b9ce9c8 +size 598432 diff --git a/Spatial/add_condiment_spatial/example71/input/instruction.txt b/Spatial/add_condiment_spatial/example71/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example71/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example71/output/operation_sequence.json b/Spatial/add_condiment_spatial/example71/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example71/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example72/env_config/env_config.json b/Spatial/add_condiment_spatial/example72/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0b32f5c6ad13dba4377bd5e2f61d9e9ce5cd5142 --- /dev/null +++ b/Spatial/add_condiment_spatial/example72/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296827965221328, + 0.007127215151111243, + 0.004027511085352192 + ], + "orientation": [ + 0.9999352767486546, + 0.010708884212107812, + -0.00023971878122784203, + -0.003834663926703242 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3940165833255239, + 0.103197661262706, + 0.0017210281039234598 + ], + "orientation": [ + 0.9999072297768639, + 0.003905211324134774, + 0.00013111404556529388, + 0.013048523808424846 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_7/model.xml", + "position": [ + -0.1440266124608669, + -0.09225488295590405, + 0.8275926898278921 + ], + "orientation": [ + 0.9996726980449888, + 0.004821552322446702, + -0.0005329962991800565, + 0.025119023301077865 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.14553341476077816, + -0.062294135717807925, + 0.8278810849802414 + ], + "orientation": [ + 0.9996726980449888, + 0.004821552322446702, + -0.0005329962991800565, + 0.025119023301077865 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.19239642014452638, + -0.13211826860415274, + 0.8251506229131093 + ], + "orientation": [ + 0.9980992856327396, + 0.00890245570917313, + -0.0041964621253467145, + -0.06083545025222027 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.18437300327311965, + -0.0049735205241010294, + 0.79722931405879 + ], + "orientation": [ + 0.9989928600926219, + 0.0004314874975963497, + -0.0007834936952953299, + 0.04486051092144345 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2668882845736884, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1842611408269632, + 0.14009537926415963, + 0.8229409682805201 + ], + "orientation": [ + 0.9997916219336812, + 0.015014978458693007, + -0.0004695596919690471, + 0.013821817782028057 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example72/input/input.png b/Spatial/add_condiment_spatial/example72/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..835aa80859e7e60fbd8c74e96640aa38865c95e7 --- /dev/null +++ b/Spatial/add_condiment_spatial/example72/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:526058506bee809059d631c7b3de533fdd17698b81bfe4d72ffd42127c535c10 +size 786527 diff --git a/Spatial/add_condiment_spatial/example72/input/input_mask.png b/Spatial/add_condiment_spatial/example72/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c877cc917cabae3f7ee54952dcec607ec5d19140 --- /dev/null +++ b/Spatial/add_condiment_spatial/example72/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19da84d43953a62ed9b97ecd9455aca8f07655258253580d03d878c5613c6ac4 +size 661143 diff --git a/Spatial/add_condiment_spatial/example72/input/instruction.txt b/Spatial/add_condiment_spatial/example72/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example72/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example72/output/operation_sequence.json b/Spatial/add_condiment_spatial/example72/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example72/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example73/env_config/env_config.json b/Spatial/add_condiment_spatial/example73/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0057892da45e12641b494c136d5febe3f80621cc --- /dev/null +++ b/Spatial/add_condiment_spatial/example73/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296998784790381, + 0.007387385728684765, + 0.004010537385330474 + ], + "orientation": [ + 0.9999363291745546, + 0.010711199611126416, + -0.0002183821941098896, + -0.003544024410984643 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000001561348045, + -2.462440909348343e-08, + 0.00198762761863918 + ], + "orientation": [ + 0.9999999999855148, + -5.3825109454010395e-06, + 5.975672128685866e-09, + -5.520958797512716e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.1887767624040448, + -0.04912904285217435, + 0.8282062470750341 + ], + "orientation": [ + 0.9999999985692541, + 4.01909109799913e-05, + -3.508192806830418e-05, + 3.929346587175605e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1887769982494382, + -0.019129042950019323, + 0.8282086585214185 + ], + "orientation": [ + 0.9999999985692541, + 4.01909109799913e-05, + -3.508192806830418e-05, + 3.929346587175605e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.15477940146318503, + -0.15454255685173793, + 0.8230425684341748 + ], + "orientation": [ + 0.9996881382631613, + 0.015683469277240635, + -0.0002918546898888418, + 0.01943115612115051 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.20927919438539955, + -0.018550074385539468, + 0.7972379177556868 + ], + "orientation": [ + 0.9981878947518049, + 0.0003512822482463638, + -0.0008608126914312246, + 0.06016695416298968 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2934208101840947, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.20532868467066964, + 0.12980411573324702, + 0.7971923860004176 + ], + "orientation": [ + 0.9997763625121862, + 0.0016457144187409366, + 0.0005652040157840195, + 0.0210759846833901 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2982414664650901, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.15445859121819583, + 0.2854619380690925, + 0.8043013884578433 + ], + "orientation": [ + 0.9991978412577749, + -0.00013496324344276485, + -0.00013997045280836267, + -0.040045426942403456 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example73/input/input.png b/Spatial/add_condiment_spatial/example73/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4d0772f8f39c4e392fa53a2adfb91732eec9acdd --- /dev/null +++ b/Spatial/add_condiment_spatial/example73/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b8b66c299ae9921421220fa8eb0e86350672f7e3db4c984d0f079b9a3713ce8 +size 882615 diff --git a/Spatial/add_condiment_spatial/example73/input/input_mask.png b/Spatial/add_condiment_spatial/example73/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a6c32fed0ff60e3c2cadca4053391c338955835e --- /dev/null +++ b/Spatial/add_condiment_spatial/example73/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2895d34a12350ebd391a02b3ff97437b959065ba98b17bc23ca51957db605567 +size 728516 diff --git a/Spatial/add_condiment_spatial/example73/input/instruction.txt b/Spatial/add_condiment_spatial/example73/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example73/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example73/output/operation_sequence.json b/Spatial/add_condiment_spatial/example73/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..906f8c2306c4d2f541005b609f32389b2b8701a0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example73/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 9 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example74/env_config/env_config.json b/Spatial/add_condiment_spatial/example74/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cbb624e83692d5cb184cacbf91e32e85ed0a1955 --- /dev/null +++ b/Spatial/add_condiment_spatial/example74/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.530346464023169, + 0.010498187607581894, + 0.003990475932239187 + ], + "orientation": [ + 0.9999351676054977, + 0.010941731968755525, + -9.976773880045615e-05, + -0.0031510527904562366 + ], + "class": "Counter", + "materials": [ + "stone2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999519838206, + 6.888357992497198e-09, + 0.00996320369028241 + ], + "orientation": [ + 0.99999999999991, + -4.241764934744484e-07, + 2.2661422316746867e-09, + -1.8052235761424173e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.15192899747227678, + -0.10323260747857539, + 0.7934521672344518 + ], + "orientation": [ + 0.9999999982402212, + -4.720835633561982e-05, + 3.5582792721606286e-05, + 4.979330024925703e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.15192929633286606, + -0.07323260761378075, + 0.7934493347437074 + ], + "orientation": [ + 0.9999999982402212, + -4.720835633561982e-05, + 3.5582792721606286e-05, + 4.979330024925703e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.16463961215793196, + -0.15662788559525848, + 0.7972917941775078 + ], + "orientation": [ + 0.9971778886658103, + 7.205202271934142e-05, + -6.0043963832061344e-05, + -0.07507495960189374 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2657585825596549, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1785194642196019, + -0.014990810111314454, + 0.8225360615338736 + ], + "orientation": [ + 0.9993874948203597, + 0.0003876403005745847, + -8.024424702545682e-05, + -0.034992549100400325 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.19721886835877278, + 0.1387645796027837, + 0.8250221370725503 + ], + "orientation": [ + 0.999308188912924, + 0.0077162145852007645, + -0.012156802680257331, + 0.03429016991267691 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16031941194026642, + 0.30955242729638216, + 0.8248503072419789 + ], + "orientation": [ + 0.998289972978562, + 8.10686603658132e-05, + -5.65143736439534e-05, + 0.05845613812474507 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example74/input/input.png b/Spatial/add_condiment_spatial/example74/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..1d31228af5ef3488dbbfde101735d3794193f7f1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example74/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d26f15563c7c1aada3b0163f5a123a2e7dff355919681d2b74cb4a13a4acb1 +size 686884 diff --git a/Spatial/add_condiment_spatial/example74/input/input_mask.png b/Spatial/add_condiment_spatial/example74/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aaaa21b70b0367b3405af7c5a5afc2a2f9878d30 --- /dev/null +++ b/Spatial/add_condiment_spatial/example74/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c527d02987ca4c73ff20086ec85ec515c395a3f949e120b384b42a0fb600d90b +size 591914 diff --git a/Spatial/add_condiment_spatial/example74/input/instruction.txt b/Spatial/add_condiment_spatial/example74/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example74/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example74/output/operation_sequence.json b/Spatial/add_condiment_spatial/example74/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example74/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example75/env_config/env_config.json b/Spatial/add_condiment_spatial/example75/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e0289a1b2ba438f8e3216c1e024468c1b53885fc --- /dev/null +++ b/Spatial/add_condiment_spatial/example75/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5299999323227853, + -0.00013995574041580805, + 0.00412450950670091 + ], + "orientation": [ + 0.9999408959441327, + 0.010872194737749611, + -2.1450028560935042e-08, + -1.7115747665328928e-07 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000039077227, + 2.0408469245977687e-08, + 0.009963174748260866 + ], + "orientation": [ + 0.9999999999999161, + -4.099060472407498e-07, + 6.506587864457081e-09, + -2.370076341693059e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.16002528649638736, + -0.16827124090194887, + 0.7930170255864958 + ], + "orientation": [ + 0.9999999931209616, + 0.00011380326976012732, + 4.707460630707398e-06, + 2.801308455858376e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16002696724930585, + -0.1382712417261039, + 0.7930238537905466 + ], + "orientation": [ + 0.9999999931209616, + 0.00011380326976012732, + 4.707460630707398e-06, + 2.801308455858376e-05 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.19748855121340153, + -0.15968908721078756, + 0.8046457490671791 + ], + "orientation": [ + 0.9991541644424328, + -0.00017726570127492083, + 7.047592931523768e-05, + 0.04112078899241284 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.16970795039378786, + 0.01690708251456376, + 0.8231647588993782 + ], + "orientation": [ + 0.9991797606670612, + -0.013441711197906561, + -0.0005695971841537044, + 0.038194264391828915 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.16170509732205887, + 0.15383873211006796, + 0.8302626070860979 + ], + "orientation": [ + 0.998811145160064, + -0.01060904018534617, + -0.0019095717316696314, + -0.04754048912442383 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example75/input/input.png b/Spatial/add_condiment_spatial/example75/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c3aa724f1117b5c7cfe77858b9d567e462e0a040 --- /dev/null +++ b/Spatial/add_condiment_spatial/example75/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:939357edfb19421fc8dd3ad94fb2c4899b5b474b75f514f9e223eb5bdde8d754 +size 657337 diff --git a/Spatial/add_condiment_spatial/example75/input/input_mask.png b/Spatial/add_condiment_spatial/example75/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0c27519d2efc540a82a7e9fe01292d74d73bb341 --- /dev/null +++ b/Spatial/add_condiment_spatial/example75/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de6d9ae8cf1464bc44a42af6c470fc05f9cc8b25ffde7c0fa318fcbf4acba71e +size 568107 diff --git a/Spatial/add_condiment_spatial/example75/input/instruction.txt b/Spatial/add_condiment_spatial/example75/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example75/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example75/output/operation_sequence.json b/Spatial/add_condiment_spatial/example75/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example75/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example76/env_config/env_config.json b/Spatial/add_condiment_spatial/example76/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fab0abc1e5835ba04ffbaba88717e35b3bed64c5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example76/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296745031212039, + 0.00703224344101824, + 0.004033479695597536 + ], + "orientation": [ + 0.999934893828132, + 0.010709884298857653, + -0.00024590173405122625, + -0.003930141926948405 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3940507966554487, + 0.1032137744720522, + 0.001689314813890635 + ], + "orientation": [ + 0.9999080865887489, + 0.003871886971206231, + 0.00015490001787600994, + 0.012992415929839171 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.17288463570350965, + -0.8792294412713714, + 1.2539218832786327 + ], + "orientation": [ + -0.9937999454541614, + 0.0013799979249975458, + -0.06299930227886086, + 0.09160159350912093 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1674278325199222, + -0.8497330066510324, + 1.253493346578155 + ], + "orientation": [ + -0.9937999454541614, + 0.0013799979249975458, + -0.06299930227886086, + 0.09160159350912093 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.1688837642544695, + -0.1359401978722885, + 0.8251805676692516 + ], + "orientation": [ + 0.9988231759179256, + 0.01076022738720174, + -0.00014302359762521387, + 0.04729122857418559 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.1684616217710643, + 0.008152246253412924, + 0.7972212009242604 + ], + "orientation": [ + 0.999980475261419, + 0.00047732851511653803, + -0.000758060456703223, + -0.006184383379109056 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25730441317450164, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.215048010302042, + 0.14204853271640264, + 0.8245033912009024 + ], + "orientation": [ + 0.9965213476954652, + -0.0007616498722748926, + 0.0020145047965472685, + -0.08331005489802329 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example76/input/input.png b/Spatial/add_condiment_spatial/example76/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f2358f7f3820c01e4713b724c5dd21a0fbf0727a --- /dev/null +++ b/Spatial/add_condiment_spatial/example76/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55a769af5e6a6073cd6e32355daa5bf1a34bbbe2014ddaf3fd823155745ddd78 +size 718481 diff --git a/Spatial/add_condiment_spatial/example76/input/input_mask.png b/Spatial/add_condiment_spatial/example76/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1849e2cab4b9ae91280de1501a1229383682ae44 --- /dev/null +++ b/Spatial/add_condiment_spatial/example76/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f32af2876d827934968a2be1cdfd527cb39f9cd619866f60f4e629b1e385df9c +size 636768 diff --git a/Spatial/add_condiment_spatial/example76/input/instruction.txt b/Spatial/add_condiment_spatial/example76/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example76/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example76/output/operation_sequence.json b/Spatial/add_condiment_spatial/example76/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example76/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example77/env_config/env_config.json b/Spatial/add_condiment_spatial/example77/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e576fc5218218639a0c449ead11b4f421f85ed51 --- /dev/null +++ b/Spatial/add_condiment_spatial/example77/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294998087813381, + 0.0037449452701910717, + 0.0044309535489517144 + ], + "orientation": [ + 0.9999498616554563, + 0.009725983350735531, + -0.0003656783720842036, + -0.0023549315117353956 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2199999999553395, + -5.1827903448089984e-09, + -0.010077914351471573 + ], + "orientation": [ + 0.9999999999998426, + -5.618841836010913e-07, + -7.752032497176174e-10, + -6.099574773365253e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.19207005042009054, + -0.11438057338855488, + 0.7411414253703246 + ], + "orientation": [ + 0.9999999864078731, + -0.00015165134226622132, + -6.469281246701552e-05, + 9.823068204154458e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.19207010876985386, + -0.08438057476850053, + 0.7411323262860994 + ], + "orientation": [ + 0.9999999864078731, + -0.00015165134226622132, + -6.469281246701552e-05, + 9.823068204154458e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1800061217563059, + -0.14981641079581856, + 0.8236042607067693 + ], + "orientation": [ + 0.9997041710737522, + 0.01305065307540197, + -0.0007908349843777744, + -0.02050915337296135 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.20800093024576097, + 0.00975631534919537, + 0.8047384837845253 + ], + "orientation": [ + 0.9996558520506718, + -0.0019010877030660382, + -0.00037376856060635687, + 0.026161491231463718 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.17816298304248276, + 0.146160694414195, + 0.7972731117614127 + ], + "orientation": [ + 0.9993680386868374, + -0.0003472368526099715, + -0.0006939450057350079, + -0.03553760146830413 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2838899067262446, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_7/model.xml", + "position": [ + 0.17452970470180168, + 0.31325010317733776, + 0.8321021799020228 + ], + "orientation": [ + 0.9998475279815534, + 0.00927998071047429, + 0.007947059908306808, + 0.012475856123114078 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example77/input/input.png b/Spatial/add_condiment_spatial/example77/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..06db24cec9a1cee38a2e7cda656878b6664bd396 --- /dev/null +++ b/Spatial/add_condiment_spatial/example77/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1957860cb86cc0c10f4bc3a30e398cb3843af3fcb08fcfb21246458bd489f94d +size 691563 diff --git a/Spatial/add_condiment_spatial/example77/input/input_mask.png b/Spatial/add_condiment_spatial/example77/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..615bf7958fe1c4eacd5aabe767fbc4d979405f98 --- /dev/null +++ b/Spatial/add_condiment_spatial/example77/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7877ff965f0cf293858eed5ea092c2f9ab4ccc524393caff45ab65ffca4ed569 +size 601499 diff --git a/Spatial/add_condiment_spatial/example77/input/instruction.txt b/Spatial/add_condiment_spatial/example77/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example77/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example77/output/operation_sequence.json b/Spatial/add_condiment_spatial/example77/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example77/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example78/env_config/env_config.json b/Spatial/add_condiment_spatial/example78/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c1fab18f128c19bc9f31cbc279f6148d3fcab7ae --- /dev/null +++ b/Spatial/add_condiment_spatial/example78/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294824011268113, + 0.0036215175724167675, + 0.0044554753061410825 + ], + "orientation": [ + 0.9999496075646843, + 0.00972029092803581, + -0.000391920223850596, + -0.0024788453049242177 + ], + "class": "Counter", + "materials": [ + "stone3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2200000000085049, + -4.759328997092273e-09, + -0.010077925423680552 + ], + "orientation": [ + 0.9999999999998481, + -5.522109753930957e-07, + 1.4025632370888232e-09, + -5.829557120220646e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.16848478771408737, + -0.1572183665485959, + 0.7420720064481104 + ], + "orientation": [ + 0.9999999894405546, + 0.00014473412748817097, + -1.3073798053482473e-05, + 3.0572499239169025e-08 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16848478966197078, + -0.12721836780547394, + 0.7420806904956441 + ], + "orientation": [ + 0.9999999894405546, + 0.00014473412748817097, + -1.3073798053482473e-05, + 3.0572499239169025e-08 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18821704276274437, + -0.16260255827111084, + 0.8236281838937468 + ], + "orientation": [ + 0.9998527261752762, + 0.012563749846867306, + -0.0007952885732592156, + -0.011663861527713992 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.18379559694980308, + 0.0019499155543244951, + 0.82525233528036 + ], + "orientation": [ + 0.997178826451888, + -0.004841655550774277, + -3.715598143754809e-05, + -0.07490624184269402 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.1454334872422288, + 0.1365373363221789, + 0.7972075436045624 + ], + "orientation": [ + 0.9999908095204539, + -0.0004901175968669324, + -0.0008981361233341622, + -0.004163413368019367 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26432169500426206, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example78/input/input.png b/Spatial/add_condiment_spatial/example78/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b3c8c452a0eda7d5df9fb5ad9722b670fd2d5d97 --- /dev/null +++ b/Spatial/add_condiment_spatial/example78/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ce6a84b9e6586334df7c230cf08e8c125717e536df9252843d6138e4b50487b +size 722356 diff --git a/Spatial/add_condiment_spatial/example78/input/input_mask.png b/Spatial/add_condiment_spatial/example78/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8516e58a96c02e273e5097c9bb43829fa0fb3fd4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example78/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33ea616e30ac36a07bf43791f34016395c6334640ff75528919f9d1219454b0a +size 618929 diff --git a/Spatial/add_condiment_spatial/example78/input/instruction.txt b/Spatial/add_condiment_spatial/example78/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example78/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example78/output/operation_sequence.json b/Spatial/add_condiment_spatial/example78/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example78/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example79/env_config/env_config.json b/Spatial/add_condiment_spatial/example79/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..56095b99916445821536df8172e706d7a580a7f0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example79/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296844827448117, + 0.007193701239034245, + 0.004022994721386578 + ], + "orientation": [ + 0.9999355699569028, + 0.010709590145453583, + -0.00023411183647029072, + -0.003755769631886876 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.2150000213548216, + 2.3996361148967848e-08, + 0.009963178841169446 + ], + "orientation": [ + 0.9999999999999117, + -4.194158254152656e-07, + 1.2929246663959286e-08, + -4.151221333457992e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.13854214445514235, + -0.0954993251020345, + 0.8373080910440374 + ], + "orientation": [ + 0.9999999987474975, + 3.45287798478118e-05, + 2.487265582965279e-05, + 2.634612700162089e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.13854372517123112, + -0.06549932521521584, + 0.8373101628101435 + ], + "orientation": [ + 0.9999999987474975, + 3.45287798478118e-05, + 2.487265582965279e-05, + 2.634612700162089e-05 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.20116414678805916, + -0.15255644271549332, + 0.8247858546761687 + ], + "orientation": [ + 0.9967116240140256, + 0.002675266667183745, + -0.00569262068401234, + -0.080785986243476 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.15910277450945465, + 0.008701935477326716, + 0.797268733938798 + ], + "orientation": [ + 0.9996327236202424, + 4.090620001128319e-05, + -0.0002493347503070824, + -0.027098967257825148 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2735323665397633, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.18725355149519657, + 0.15371834286997196, + 0.8043671447738111 + ], + "orientation": [ + 0.999538424779344, + -0.0004793240927372531, + -0.00014607890725003314, + 0.030375751825988607 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example79/input/input.png b/Spatial/add_condiment_spatial/example79/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5a5ae9c2bc8b66d0c56835b2ab125f5fee4a3484 --- /dev/null +++ b/Spatial/add_condiment_spatial/example79/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4809d6ec3e6267ae90d406511b411839ff9ff7a3e66e558b331725d91d1950e6 +size 693661 diff --git a/Spatial/add_condiment_spatial/example79/input/input_mask.png b/Spatial/add_condiment_spatial/example79/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..881ccbe65d3cdd24287bd5dc65b6975fee27c999 --- /dev/null +++ b/Spatial/add_condiment_spatial/example79/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cdec778e910d9df9c827184ab0f33bfc9a0df3bbc1994217a80552211ae346b4 +size 587796 diff --git a/Spatial/add_condiment_spatial/example79/input/instruction.txt b/Spatial/add_condiment_spatial/example79/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example79/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example79/output/operation_sequence.json b/Spatial/add_condiment_spatial/example79/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example79/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example8/env_config/env_config.json b/Spatial/add_condiment_spatial/example8/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..75f4a0fa48e49ebfe8e8e87d4ab238aec14d9a43 --- /dev/null +++ b/Spatial/add_condiment_spatial/example8/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296802430521792, + 0.007118891179986811, + 0.004028307918833257 + ], + "orientation": [ + 0.9999353011657847, + 0.010708459264405685, + -0.00024068314808257702, + -0.0038294195769213338 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500001073759484, + 2.8430544238995887e-08, + 0.009963190373974253 + ], + "orientation": [ + 0.9999999999999082, + -4.300334426186711e-07, + 6.098570531130214e-09, + -1.4145267191962917e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.13073033829280517, + -0.04663735601325664, + 0.8373054623524957 + ], + "orientation": [ + 0.999999992334631, + 9.870784150580172e-05, + 6.432315360794856e-05, + 3.8079287999510354e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.13073262266911564, + -0.01663735668485284, + 0.8373113849699034 + ], + "orientation": [ + 0.999999992334631, + 9.870784150580172e-05, + 6.432315360794856e-05, + 3.8079287999510354e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1948430728627058, + -0.16479727743408398, + 0.8230289901826757 + ], + "orientation": [ + 0.9990687709412499, + 0.01455994291995058, + -4.429468254552474e-05, + 0.04061523150359022 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.1671870471836775, + 0.007180770363797244, + 0.7972188781614815 + ], + "orientation": [ + 0.9996941721606161, + 0.0005003940085989607, + -0.0007135557673383866, + 0.024714420731692204 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2659669321858824, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16084766438317416, + 0.1653172582662524, + 0.8247881500018472 + ], + "orientation": [ + 0.9999958909404072, + -0.0021787481116973205, + -0.00012510218989409522, + 0.0018588997846701954 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_9/model.xml", + "position": [ + 0.2051758949239997, + 0.2832304813058707, + 0.8247402081808106 + ], + "orientation": [ + 0.9974606236634177, + -0.00118886745941515, + -0.0011568701419611771, + -0.07120078992978314 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example8/input/input.png b/Spatial/add_condiment_spatial/example8/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6ae1b73a132868696191841378fe0ca5f61634cd --- /dev/null +++ b/Spatial/add_condiment_spatial/example8/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8607556e9bb72e1d53dc114ce610f0d6e7d1a2d6b87d3ae89d74390f77901e +size 716645 diff --git a/Spatial/add_condiment_spatial/example8/input/input_mask.png b/Spatial/add_condiment_spatial/example8/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a8311492f1c37e213224671ea826ebad85582dba --- /dev/null +++ b/Spatial/add_condiment_spatial/example8/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84bae5e0719159f193e3222bc3954da16f7d4e140c1028f0b8e9e4bd8261e946 +size 580362 diff --git a/Spatial/add_condiment_spatial/example8/input/instruction.txt b/Spatial/add_condiment_spatial/example8/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example8/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example8/output/operation_sequence.json b/Spatial/add_condiment_spatial/example8/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example8/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example80/env_config/env_config.json b/Spatial/add_condiment_spatial/example80/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0218378bb958638093ef23eb544337d330c05061 --- /dev/null +++ b/Spatial/add_condiment_spatial/example80/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296870994725525, + 0.007236802699938583, + 0.004020019286585215 + ], + "orientation": [ + 0.9999357267591042, + 0.010710325641305522, + -0.0002303222464604451, + -0.003711903428305172 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.22000000034636258, + -5.782693159295594e-09, + -0.010077955764345262 + ], + "orientation": [ + 0.9999999999998508, + -5.459359692838481e-07, + 1.924094790085651e-08, + -2.6836832045737625e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.12704208951035567, + -0.04771161518502159, + 0.7777997541312466 + ], + "orientation": [ + 0.9999997598421311, + -0.0006787871465472152, + -0.0001398700631192257, + -2.3303046903992246e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.12704206983201083, + -0.017711642830144297, + 0.7777590269141903 + ], + "orientation": [ + 0.9999997598421311, + -0.0006787871465472152, + -0.0001398700631192257, + -2.3303046903992246e-07 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.18817584203071697, + -0.14993959690828196, + 0.824641502208737 + ], + "orientation": [ + 0.9979520192400053, + 0.011528513331060088, + -0.002448784879918692, + 0.06287180709811481 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.17931568193214478, + 0.0006480401800661261, + 0.7972782244058811 + ], + "orientation": [ + 0.9972115525944164, + 0.0004844014792863906, + -0.0002483024079695485, + -0.0746245473912912 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27790425732649804, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.20451734215014797, + 0.13769064516743404, + 0.7971919475520803 + ], + "orientation": [ + 0.9994051032711275, + 0.001772373349883244, + 0.0005339889632824381, + -0.03443854096970905 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.28632270158392337, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example80/input/input.png b/Spatial/add_condiment_spatial/example80/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f728a8e31a5f8db297942fa960c07635ae8cfe5c --- /dev/null +++ b/Spatial/add_condiment_spatial/example80/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cb03bd9b02eb3681ce2f7454b67efd3c987ad31b0f497cb15fac7f98d0687b5 +size 724342 diff --git a/Spatial/add_condiment_spatial/example80/input/input_mask.png b/Spatial/add_condiment_spatial/example80/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3402df56506838b62685a818b8390c3e1fc35164 --- /dev/null +++ b/Spatial/add_condiment_spatial/example80/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:993af0ea4183b347546e9d987bab870f9292cec51d79ff8873c8184bb7920689 +size 590034 diff --git a/Spatial/add_condiment_spatial/example80/input/instruction.txt b/Spatial/add_condiment_spatial/example80/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example80/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example80/output/operation_sequence.json b/Spatial/add_condiment_spatial/example80/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example80/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example81/env_config/env_config.json b/Spatial/add_condiment_spatial/example81/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..77d33c2938797c786901a9a3dad01fc5c8e47379 --- /dev/null +++ b/Spatial/add_condiment_spatial/example81/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294773742609573, + 0.0035814085462076667, + 0.004463505335054713 + ], + "orientation": [ + 0.9999495304152035, + 0.009718289758995791, + -0.0004000022177582184, + -0.0025162402110427253 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2200000212840564, + 5.3718080485804554e-08, + 0.0019832981007649464 + ], + "orientation": [ + 0.9999999999999247, + -3.8765758682825354e-07, + 1.542226081839402e-08, + -1.0182026980523745e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_0/model.xml", + "position": [ + -0.17334183875090672, + -0.03230157543230273, + 0.7997033228716691 + ], + "orientation": [ + 0.9999999953966672, + -9.295142635490993e-05, + -1.0108815801738516e-05, + 2.155247718901775e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.1733431318431544, + -0.002301575978571363, + 0.7996977457730413 + ], + "orientation": [ + 0.9999999953966672, + -9.295142635490993e-05, + -1.0108815801738516e-05, + 2.155247718901775e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.15533936294354161, + -0.15104456183157755, + 0.8235967125476497 + ], + "orientation": [ + 0.9977384909110143, + 0.012960505204518944, + 0.0005761987959519883, + 0.06595147499793544 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_11/model.xml", + "position": [ + 0.17068050878076826, + -0.020353129195212108, + 0.8248320780530854 + ], + "orientation": [ + 0.9998577387376509, + 0.005897944144338257, + -0.0033748206045291166, + 0.015437847232995868 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.17387101576659947, + 0.13095876622748412, + 0.7972827710540277 + ], + "orientation": [ + 0.9969843443915681, + -0.0007858058286072327, + -0.00038842349960821926, + 0.07759799401080159 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25818884223761807, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example81/input/input.png b/Spatial/add_condiment_spatial/example81/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..af7db6b0e12319bcfefe6e419b5278d799b3e1c3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example81/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71cffb4a76faeb514fe9abb6e11c51d7336c17be9ff5a5790e2e22bbdfa2df5d +size 726974 diff --git a/Spatial/add_condiment_spatial/example81/input/input_mask.png b/Spatial/add_condiment_spatial/example81/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..400cb9dbe8745b7c5d739e443d241b5703bb40c9 --- /dev/null +++ b/Spatial/add_condiment_spatial/example81/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22b4e0ba61ec10de47e269d886d8be9c3e0a229080e20be5c3358af42d9c5168 +size 608767 diff --git a/Spatial/add_condiment_spatial/example81/input/instruction.txt b/Spatial/add_condiment_spatial/example81/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example81/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example81/output/operation_sequence.json b/Spatial/add_condiment_spatial/example81/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example81/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example82/env_config/env_config.json b/Spatial/add_condiment_spatial/example82/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7193d4839e8f486ae0a4454e7d2cf24156af3460 --- /dev/null +++ b/Spatial/add_condiment_spatial/example82/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5304217362426793, + 0.010338555255814617, + 0.003987995015900288 + ], + "orientation": [ + 0.999935744973246, + 0.01086740486390485, + -0.00014617153792661548, + -0.003222432343065722 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500002530893103, + 4.1388318310018236e-08, + 0.009963197094618029 + ], + "orientation": [ + 0.9999999999999137, + -4.14873917152464e-07, + 8.961510502462554e-09, + 1.5541571968425868e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.10526275031188664, + -0.18814059428046545, + 0.8044788227350449 + ], + "orientation": [ + 0.9999999995332584, + 2.956435705814563e-06, + -1.4606277261290652e-06, + -3.0374496285931907e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.10526092784236943, + -0.15814059433634647, + 0.8044790001238491 + ], + "orientation": [ + 0.9999999995332584, + 2.956435705814563e-06, + -1.4606277261290652e-06, + -3.0374496285931907e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.14846008758495982, + -0.14367877127140052, + 0.797279702399679 + ], + "orientation": [ + 0.9998732250379174, + 8.968359219052985e-05, + -0.00011015444836206673, + 0.01592211277202372 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25108774995172595, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.17159467840103873, + 0.0002876727112046202, + 0.8225090960790165 + ], + "orientation": [ + 0.9999377320256353, + 0.000190602683819919, + -0.00014705629875532398, + -0.011156796874123113 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.16210401636671035, + 0.14217343336581384, + 0.8044221637612622 + ], + "orientation": [ + 0.9983421353306399, + -2.646066041839517e-06, + -0.00021098819886977347, + 0.05755811237728062 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17411104015605644, + 0.31649784509715095, + 0.7972433801363494 + ], + "orientation": [ + 0.9995883680892541, + 0.0018920066355800986, + 0.0005890006301923252, + -0.028621107068193267 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2701579292550873, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example82/input/input.png b/Spatial/add_condiment_spatial/example82/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d65b125431ef28582d120c6b791f6d3f16d6194d --- /dev/null +++ b/Spatial/add_condiment_spatial/example82/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be2596894d92ef0ce59ec22b5bceeba0b054b3ff6ec0fe7f3612352baafa6ce6 +size 677073 diff --git a/Spatial/add_condiment_spatial/example82/input/input_mask.png b/Spatial/add_condiment_spatial/example82/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7a041fc0075c73a2dc121154bc2689dc2c522950 --- /dev/null +++ b/Spatial/add_condiment_spatial/example82/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:698b7c2afc903af3295e0f6bac54bbb697bc93297ab369768cb7d9ad97ea518d +size 594529 diff --git a/Spatial/add_condiment_spatial/example82/input/instruction.txt b/Spatial/add_condiment_spatial/example82/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example82/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example82/output/operation_sequence.json b/Spatial/add_condiment_spatial/example82/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example82/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example83/env_config/env_config.json b/Spatial/add_condiment_spatial/example83/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f10eb21d7acd46a9100a90f03e6de1e60e7b7957 --- /dev/null +++ b/Spatial/add_condiment_spatial/example83/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303343201066051, + 0.010564540671873053, + 0.003987865101614408 + ], + "orientation": [ + 0.9999353687041992, + 0.010944120036161242, + -9.375660296512859e-05, + -0.0030782886040934586 + ], + "class": "Counter", + "materials": [ + "stone2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2500000231955181, + 3.7052064063536855e-08, + 0.0019875896639234072 + ], + "orientation": [ + 0.9999999999855843, + -5.369405723559238e-06, + 2.4903704284986453e-08, + 1.2223037449060125e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_7/model.xml", + "position": [ + -0.1262800500073547, + -0.1297780358617549, + 0.8161450244161546 + ], + "orientation": [ + 0.9999999985283407, + 2.3164248858333084e-05, + 2.6833625655505833e-05, + 4.1069367603927126e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.12628251413211247, + -0.09977803599515142, + 0.8161464143372064 + ], + "orientation": [ + 0.9999999985283407, + 2.3164248858333084e-05, + 2.6833625655505833e-05, + 4.1069367603927126e-05 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.16552128433501695, + -0.15907066753260488, + 0.7972866863069145 + ], + "orientation": [ + 0.9999981938796243, + 6.030014485743316e-05, + -5.0677967890495415e-05, + 0.0018989557986489893 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2734767628850096, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.16875902540763577, + -0.008300589074921465, + 0.8323149711624194 + ], + "orientation": [ + 0.9976961048593522, + -2.1253682051583373e-06, + -7.390238670371329e-05, + 0.0678415571931865 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.16223199846801456, + 0.15373300559411252, + 0.8248865806085515 + ], + "orientation": [ + 0.9990522730624644, + 0.00028830706838064155, + -0.0008844308093904707, + -0.04351655259667896 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example83/input/input.png b/Spatial/add_condiment_spatial/example83/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a2db6d0af676d50003f690f6d66de35bc6323d22 --- /dev/null +++ b/Spatial/add_condiment_spatial/example83/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:435c3977f211c4a37af365752f87e0103f71368128a065ec9221554e2c46267b +size 907518 diff --git a/Spatial/add_condiment_spatial/example83/input/input_mask.png b/Spatial/add_condiment_spatial/example83/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8bfab0464d07180a8f61464be53dd3bae052841e --- /dev/null +++ b/Spatial/add_condiment_spatial/example83/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75e7f70ba7a3b64056be354e413ae1bba68f481bd4568de468272ea931a5c563 +size 783450 diff --git a/Spatial/add_condiment_spatial/example83/input/instruction.txt b/Spatial/add_condiment_spatial/example83/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example83/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example83/output/operation_sequence.json b/Spatial/add_condiment_spatial/example83/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example83/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example84/env_config/env_config.json b/Spatial/add_condiment_spatial/example84/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e3548143d0213dc48980ec1f78e013e7cec634b0 --- /dev/null +++ b/Spatial/add_condiment_spatial/example84/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5304075959364012, + 0.01036509163728893, + 0.00398566898156413 + ], + "orientation": [ + 0.9999357285663772, + 0.01087518540815961, + -0.0001418790776240936, + -0.003201397990300518 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000069587166, + 1.3345686277390325e-08, + 0.00996316127198346 + ], + "orientation": [ + 0.9999999999999106, + -4.2349898476769e-07, + 6.9419630642629e-09, + -7.802175169606876e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.1355935915742446, + -0.10545526495057961, + 0.8380856122619175 + ], + "orientation": [ + 0.9999984688401181, + -0.00149186822570566, + -0.0009146756262354665, + -3.8878732630142485e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1355932764276758, + -0.0754553984917347, + 0.837996100518801 + ], + "orientation": [ + 0.9999984688401181, + -0.00149186822570566, + -0.0009146756262354665, + -3.8878732630142485e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.15047948887457374, + -0.1396902823741643, + 0.7972798947211349 + ], + "orientation": [ + 0.9977604642079202, + 0.00010174014938420727, + 7.915349442056988e-05, + 0.06688826090774036 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25441696522463775, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_3/model.xml", + "position": [ + 0.1930017143567234, + 0.016660601064670592, + 0.8249631109250299 + ], + "orientation": [ + 0.999889717514993, + -0.0011680423373720214, + -0.0038308712052393997, + 0.014300801050765406 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.16098650491990743, + 0.14733640888037725, + 0.7972922100628548 + ], + "orientation": [ + 0.9990670147575406, + 0.0005120572540533492, + -6.299827253210548e-05, + 0.043183722072589276 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26001517652175943, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example84/input/input.png b/Spatial/add_condiment_spatial/example84/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2d24d0e4e02642c974568076227deb438ace1d9a --- /dev/null +++ b/Spatial/add_condiment_spatial/example84/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2655844c1ed73e2ed45c2d898725a9ac52556788fc8bd6c3118c1498c0808bc3 +size 693912 diff --git a/Spatial/add_condiment_spatial/example84/input/input_mask.png b/Spatial/add_condiment_spatial/example84/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d5f91d1d7beb4407c6108541f7cb3aaab21453ba --- /dev/null +++ b/Spatial/add_condiment_spatial/example84/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f54c933c0ffee93a61038d4448c1b4cfeeb919604c45c9a7178525afa5c8293 +size 593821 diff --git a/Spatial/add_condiment_spatial/example84/input/instruction.txt b/Spatial/add_condiment_spatial/example84/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example84/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example84/output/operation_sequence.json b/Spatial/add_condiment_spatial/example84/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example84/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example85/env_config/env_config.json b/Spatial/add_condiment_spatial/example85/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94235af69228b2b5237cc6e645a093900fb817dd --- /dev/null +++ b/Spatial/add_condiment_spatial/example85/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303540673515342, + 0.010462450419275716, + 0.003975229552289776 + ], + "orientation": [ + 0.9999357829381803, + 0.01089440204659708, + -0.00011841473907706057, + -0.003118971273428026 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2199999999527147, + -6.758180355707852e-09, + -0.010077922919416813 + ], + "orientation": [ + 0.999999999999843, + -5.613663425881564e-07, + -7.743333382687513e-10, + -6.161919587545369e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_20/model.xml", + "position": [ + -0.19701637108275716, + -0.011973665474320293, + 0.7411227135792319 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321886093, + 0.00015928471153708808, + -1.1760388701957654e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.19701630189243813, + 0.018026333289034108, + 0.7411140999883973 + ], + "orientation": [ + 0.99999997700881, + -0.00014355966321886093, + 0.00015928471153708808, + -1.1760388701957654e-06 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.16721288463019962, + -0.13477914300570004, + 0.7972453630753588 + ], + "orientation": [ + 0.9999590794223278, + 0.001957198999133755, + 0.0007589817684577171, + 0.008799590877105431 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26563600983242386, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.1822812449148036, + -0.007232369794086562, + 0.7972881339925081 + ], + "orientation": [ + 0.9981848536674907, + 1.752597264057396e-05, + -8.597649185839774e-05, + 0.06022449841794493 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2968810923108798, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.15821683207441675, + 0.15277380843708677, + 0.8225181255265976 + ], + "orientation": [ + 0.9988892721012855, + 0.00031750500052827316, + 3.6666582892059202e-06, + -0.047118162719846375 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example85/input/input.png b/Spatial/add_condiment_spatial/example85/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..814abc134ec6506b7fc7f602923c78f0ce43b9ed --- /dev/null +++ b/Spatial/add_condiment_spatial/example85/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d00d28a18ce56f443918cd6b1d11e3ca07fc54462491bf520f9041b25886ff8 +size 704132 diff --git a/Spatial/add_condiment_spatial/example85/input/input_mask.png b/Spatial/add_condiment_spatial/example85/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bee4ad4f60b0fc20b27253272a78d89a994b11cd --- /dev/null +++ b/Spatial/add_condiment_spatial/example85/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0eb1d87d14b6da6a820aded74a7f21b44a7cda30e9bd6d6dce867be95d92ec88 +size 586663 diff --git a/Spatial/add_condiment_spatial/example85/input/instruction.txt b/Spatial/add_condiment_spatial/example85/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example85/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example85/output/operation_sequence.json b/Spatial/add_condiment_spatial/example85/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example85/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example86/env_config/env_config.json b/Spatial/add_condiment_spatial/example86/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..26890b71c07d25f0d446d49a85db11ef4a7fe96c --- /dev/null +++ b/Spatial/add_condiment_spatial/example86/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296693698122313, + 0.006974286355697741, + 0.004037879074784672 + ], + "orientation": [ + 0.9999347498623107, + 0.01070870044566058, + -0.0002509242074902168, + -0.003969482284121928 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999983008664, + 7.407868009328097e-09, + 0.009963179958206086 + ], + "orientation": [ + 0.9999999999999071, + -4.328046348256191e-07, + 9.749592139833721e-09, + -2.5929771468706737e-10 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.15168017930675162, + -0.0029548161278364804, + 0.8373097990639489 + ], + "orientation": [ + 0.999999999999973, + -1.2049070308396084e-07, + -7.118224310800414e-08, + -1.8514384951612353e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.15168016819812014, + 0.027045183872160587, + 0.8373097918345075 + ], + "orientation": [ + 0.999999999999973, + -1.2049070308396084e-07, + -7.118224310800414e-08, + -1.8514384951612353e-07 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml", + "position": [ + 0.1648966131818594, + -0.13125446498030735, + 0.8299211639897945 + ], + "orientation": [ + 0.9993733905857685, + 0.003623740433247939, + -4.693982428930929e-05, + 0.03520926711863676 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.13560961678671474, + 0.006050461992054786, + 0.7972488292605036 + ], + "orientation": [ + 0.9976423506953459, + -0.00013639327723364815, + -0.00018760345931648318, + 0.06862715425311045 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2514782083373279, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.15566337984481937, + 0.13364129655444656, + 0.8229491443445861 + ], + "orientation": [ + 0.9995081818836368, + 0.015536483276500673, + -0.0010162354071886386, + -0.02722093497043102 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example86/input/input.png b/Spatial/add_condiment_spatial/example86/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7ff8a1612364120e77fa436cc9376d4869ec4616 --- /dev/null +++ b/Spatial/add_condiment_spatial/example86/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f3021b73cf3d9a4358dfb40005d030b5faa3719302242d5982a5d3e5eea7ed3 +size 764623 diff --git a/Spatial/add_condiment_spatial/example86/input/input_mask.png b/Spatial/add_condiment_spatial/example86/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c2bf7926bfc61908a8c774af2f956bf50d68b77b --- /dev/null +++ b/Spatial/add_condiment_spatial/example86/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60d828f5601588e63c9bc6849b95f4ef8669e3b2340fd7521fea11d79d8e99b3 +size 601152 diff --git a/Spatial/add_condiment_spatial/example86/input/instruction.txt b/Spatial/add_condiment_spatial/example86/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example86/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example86/output/operation_sequence.json b/Spatial/add_condiment_spatial/example86/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example86/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example87/env_config/env_config.json b/Spatial/add_condiment_spatial/example87/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d99824f641720f9eaea39a7eb28d3fd256ffd526 --- /dev/null +++ b/Spatial/add_condiment_spatial/example87/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303460460990983, + 0.01062227952371583, + 0.003972767975330906 + ], + "orientation": [ + 0.9999366890253426, + 0.01087594520870259, + -0.0001196804669396347, + -0.0028839960884773147 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21499999473645096, + 8.047236215479683e-08, + 0.009963096503138272 + ], + "orientation": [ + 0.9999999999999221, + -3.9325020545962396e-07, + 5.410981134004407e-10, + -1.703837339632841e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.16705644512136128, + -0.0359789259410148, + 0.8074342079132193 + ], + "orientation": [ + 0.9999999989423572, + 1.016253130631415e-05, + -1.6795911658447773e-05, + -4.1592129061102027e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.16705394960386158, + -0.005978926051005758, + 0.8074348177070116 + ], + "orientation": [ + 0.9999999989423572, + 1.016253130631415e-05, + -1.6795911658447773e-05, + -4.1592129061102027e-05 + ], + "class": "FlatContainer" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.20112067082488666, + -0.16067683668948235, + 0.7972498815321514 + ], + "orientation": [ + 0.9995557320351095, + 0.001597654856693348, + 0.00030642908445938305, + -0.02976058057112804 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.289085736476253, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.19359710074500422, + 0.007282544579347255, + 0.824790357602473 + ], + "orientation": [ + 0.9989163462763733, + 5.5594494941847994e-05, + -0.0001289898631285314, + 0.046541523532501676 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_1/model.xml", + "position": [ + 0.16941056617222672, + 0.14557701101532014, + 0.8297836389865944 + ], + "orientation": [ + 0.9974195284213847, + -0.00014532664322574018, + 1.7111955862458608e-05, + -0.07179319543668847 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.15266089664861873, + 0.28695097799385344, + 0.7972815429177622 + ], + "orientation": [ + 0.9991737879037164, + 3.579604022059388e-05, + -8.710072734492241e-05, + 0.04064151446792126 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2629532080431519, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example87/input/input.png b/Spatial/add_condiment_spatial/example87/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b485d7252e28dfc057c1050612e31d51e16a55e4 --- /dev/null +++ b/Spatial/add_condiment_spatial/example87/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05a6de1ce97f93ebaffabda0602fc33c14efc1b24fef07a9ba3f472424e14173 +size 706751 diff --git a/Spatial/add_condiment_spatial/example87/input/input_mask.png b/Spatial/add_condiment_spatial/example87/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6f55e894aaeeac455f1103e080ec7047392798f5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example87/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36364e88adaad772b9d53c21ede5ef8acd0e50bf8b2716f39d26be11ef4dc0f2 +size 573192 diff --git a/Spatial/add_condiment_spatial/example87/input/instruction.txt b/Spatial/add_condiment_spatial/example87/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example87/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example87/output/operation_sequence.json b/Spatial/add_condiment_spatial/example87/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example87/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example88/env_config/env_config.json b/Spatial/add_condiment_spatial/example88/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a97b96b714b20d910bdf8ff1603b68d64e3e4c74 --- /dev/null +++ b/Spatial/add_condiment_spatial/example88/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5295089975641942, + 0.003801393983653473, + 0.004419896627300257 + ], + "orientation": [ + 0.9999499830937694, + 0.00972859517298213, + -0.0003530713997666844, + -0.002293706022515994 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000766895714, + 2.0250114974157558e-07, + 0.001983298308742615 + ], + "orientation": [ + 0.9999999999999398, + -3.460724126564544e-07, + 3.092275390549183e-09, + -2.2080555707191604e-08 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.19782747630414263, + -0.15198383796346476, + 0.8173425377643951 + ], + "orientation": [ + 0.9999999897525532, + -4.9693078842651415e-05, + -0.0001293839148628074, + 3.5850997300236816e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1978296269781895, + -0.12198383818874653, + 0.8173395559013826 + ], + "orientation": [ + 0.9999999897525532, + -4.9693078842651415e-05, + -0.0001293839148628074, + 3.5850997300236816e-05 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.17777798213507295, + -0.1497801889504857, + 0.8256992162545942 + ], + "orientation": [ + 0.9989591719262545, + 0.004544046181175548, + 0.0007585300673718143, + 0.045380051794270015 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_7/model.xml", + "position": [ + 0.17768045602363072, + -0.008859408174562697, + 0.8328516417939812 + ], + "orientation": [ + 0.9985926593016456, + 0.008926154075923103, + 0.007685296337543788, + -0.05171035469309642 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.18601261073648068, + 0.14493275406312275, + 0.797310877292033 + ], + "orientation": [ + 0.9986896943814859, + 0.0010772888750673, + -0.0001764323698138349, + 0.05116348948724484 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2932131526709382, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1612379735720341, + 0.2913675990903135, + 0.8226000401728077 + ], + "orientation": [ + 0.9988157223417011, + 0.013747393594550895, + -0.0012084328855021627, + -0.046655135433776446 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example88/input/input.png b/Spatial/add_condiment_spatial/example88/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..924fc9c87c188987d6b99f58e2a51828e03f72b8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example88/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4080960ba4da230bbff41e6a8c9f7824037dabd67657a47e5bb12af38bdd076 +size 683218 diff --git a/Spatial/add_condiment_spatial/example88/input/input_mask.png b/Spatial/add_condiment_spatial/example88/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5daf698a12c94440aa9a39c374be7938ad7ce0ba --- /dev/null +++ b/Spatial/add_condiment_spatial/example88/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7461121c6ff9ad7ac31058f334f7d963773b4524fb5b8f0714750d47995af087 +size 594257 diff --git a/Spatial/add_condiment_spatial/example88/input/instruction.txt b/Spatial/add_condiment_spatial/example88/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example88/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example88/output/operation_sequence.json b/Spatial/add_condiment_spatial/example88/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example88/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example89/env_config/env_config.json b/Spatial/add_condiment_spatial/example89/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8968c8d8e29ae64802b22531518922060ea1643f --- /dev/null +++ b/Spatial/add_condiment_spatial/example89/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5301475776909139, + 0.000404384841809935, + 0.005767578985534483 + ], + "orientation": [ + 0.9999686381092266, + 0.007908246578242507, + -0.00028600527907524656, + -0.000317230226516009 + ], + "class": "Counter", + "materials": [ + "stone" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000655090715, + 2.3596860619415513e-09, + 0.0019833545132315667 + ], + "orientation": [ + 0.9999999999999201, + -4.0033152500772956e-07, + 2.227271675061248e-08, + 6.445739793110186e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_1/model.xml", + "position": [ + -0.17131902300056467, + -0.12190731989127918, + 0.7874437865195268 + ], + "orientation": [ + 0.9999999998342682, + -8.996578644794559e-06, + -8.013891503385577e-06, + 1.3649250599466928e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.17131984195127464, + -0.09190731990731363, + 0.7874432467182453 + ], + "orientation": [ + 0.9999999998342682, + -8.996578644794559e-06, + -8.013891503385577e-06, + 1.3649250599466928e-05 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.20610402623566937, + -0.15012499061145818, + 0.8070841561385045 + ], + "orientation": [ + 0.9998853928012551, + -0.005337149375683484, + -4.0277805775374607e-05, + -0.014167373677541952 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.18530334376812452, + -0.004086699077186417, + 0.8247042680100921 + ], + "orientation": [ + 0.9998801884394226, + 0.012487862626697604, + -0.00015312138888558827, + 0.009145414545195773 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_7/model.xml", + "position": [ + 0.20075843810765012, + 0.16359802504204932, + 0.8334913780689793 + ], + "orientation": [ + 0.9995396737647396, + 0.011292020269097786, + -0.004377125901363566, + 0.02781675066147767 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.18192833543351586, + 0.29675620519196105, + 0.7971645522547256 + ], + "orientation": [ + 0.9999978440906402, + -0.0017395056038190361, + -0.00021046276866674553, + 0.0011142888980222045 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2863334210931434, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example89/input/input.png b/Spatial/add_condiment_spatial/example89/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bf23adb5efaa9bf8ec471264b26e822ced537af3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example89/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa23bc6a7be322bb91f4009f9254d1f1821d9f0d55a0d85510f53d4e196f3650 +size 674913 diff --git a/Spatial/add_condiment_spatial/example89/input/input_mask.png b/Spatial/add_condiment_spatial/example89/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8a1cf4514638655e47a80fb456ca397aab14138e --- /dev/null +++ b/Spatial/add_condiment_spatial/example89/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7291314bfa149ec76fda74348a7e518c299f621db29b758eb411b604968a26f +size 578347 diff --git a/Spatial/add_condiment_spatial/example89/input/instruction.txt b/Spatial/add_condiment_spatial/example89/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example89/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example89/output/operation_sequence.json b/Spatial/add_condiment_spatial/example89/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffd54b8ed7194b60e38292aaa77d03e1fcb605d --- /dev/null +++ b/Spatial/add_condiment_spatial/example89/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 6 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example9/env_config/env_config.json b/Spatial/add_condiment_spatial/example9/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5dab717a982b9229a34330a5f89b94f65f0b217c --- /dev/null +++ b/Spatial/add_condiment_spatial/example9/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303562389055216, + 0.010553398895863493, + 0.003975795909857009 + ], + "orientation": [ + 0.999936340189916, + 0.010881843463346565, + -0.00012371470096650254, + -0.0029808966952274726 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000877272613, + 1.2467327636323655e-08, + 0.009963156972045173 + ], + "orientation": [ + 0.999999999999916, + -4.0889001484773016e-07, + 2.0662062247491897e-08, + 7.622811335821742e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_24/model.xml", + "position": [ + -0.11787798422746974, + -0.15371960725657632, + 0.8081740505290689 + ], + "orientation": [ + 0.9999999996734694, + 2.48352010014333e-05, + 2.200644131865783e-06, + -5.606250547643979e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.11787764784915779, + -0.1237196072954694, + 0.8081755406403882 + ], + "orientation": [ + 0.9999999996734694, + 2.48352010014333e-05, + 2.200644131865783e-06, + -5.606250547643979e-06 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.1836354972289505, + -0.15273506803659087, + 0.8000068746949592 + ], + "orientation": [ + 0.9996475588938868, + -0.014437645015524355, + -0.009535046960431537, + -0.020134430296396888 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.27930321867042873, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.14990239728945054, + 0.007193883806951001, + 0.8245739841088383 + ], + "orientation": [ + 0.9999713319732996, + 0.002875647164533366, + 0.003120880887955594, + -0.006271043566535448 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.15587338032432177, + 0.15150971377658032, + 0.7972473609986103 + ], + "orientation": [ + 0.9974286107605954, + 0.0017590195676087804, + 0.00036149720371221703, + -0.07164455042863115 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2701946965222174, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example9/input/input.png b/Spatial/add_condiment_spatial/example9/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ee371165cd3bbef562899a6b1502b52add85f96e --- /dev/null +++ b/Spatial/add_condiment_spatial/example9/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b7de5b7d43513319712c9e9a2f0e211dcecbc557683647fb8179832419fb1f9 +size 670475 diff --git a/Spatial/add_condiment_spatial/example9/input/input_mask.png b/Spatial/add_condiment_spatial/example9/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ef60f46d40b9de4ce25225d3f6c44e3c2e51fc7f --- /dev/null +++ b/Spatial/add_condiment_spatial/example9/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29ae0b5227c362247231f1cb1116416026919721da08ca6593aaa2e9d92f214b +size 586111 diff --git a/Spatial/add_condiment_spatial/example9/input/instruction.txt b/Spatial/add_condiment_spatial/example9/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example9/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example9/output/operation_sequence.json b/Spatial/add_condiment_spatial/example9/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example9/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example90/env_config/env_config.json b/Spatial/add_condiment_spatial/example90/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..de708f0b57868678641a6b892ce07c3430e53df5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example90/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5294807817132887, + 0.003608837438759996, + 0.004458018219418733 + ], + "orientation": [ + 0.9999495823142032, + 0.009719708936632192, + -0.0003945153422797112, + -0.0024908724338892157 + ], + "class": "Counter", + "materials": [ + "stone4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2200000000070843, + -6.1896741881546494e-09, + -0.010077914277380638 + ], + "orientation": [ + 0.9999999999998427, + -5.619066981738402e-07, + 1.439220486545114e-09, + -5.5065316143843955e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.1102238259495452, + -0.0203807306668682, + 0.7421284028780083 + ], + "orientation": [ + 0.9999999996691757, + 1.2413927442158858e-05, + -2.252591439303091e-05, + 3.54815710403599e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.11022384725526592, + 0.009619269323877903, + 0.7421291477131751 + ], + "orientation": [ + 0.9999999996691757, + 1.2413927442158858e-05, + -2.252591439303091e-05, + 3.54815710403599e-07 + ], + "class": "FlatContainer" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_10/model.xml", + "position": [ + 0.19110669976170866, + -0.15919810595274797, + 0.8307565423161074 + ], + "orientation": [ + 0.99907203031316, + 0.010158813889354013, + -0.0013543513281063754, + 0.04183350904216712 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1943331188913825, + 0.011490265683836015, + 0.8252082606934694 + ], + "orientation": [ + 0.9989881335052242, + -0.003799829360936185, + 0.00025363233065612694, + 0.04481301243186566 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.15427578032873385, + 0.1471419288847554, + 0.7972237572120691 + ], + "orientation": [ + 0.9984739413968886, + -0.001015273132556772, + -0.000267151262965735, + 0.055214909236830534 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26236354846124016, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.18913133812177246, + 0.3034709851916746, + 0.8244880039033914 + ], + "orientation": [ + 0.9995268462911647, + 0.0034088382755421893, + -0.010868390553638587, + -0.028571689687924885 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example90/input/input.png b/Spatial/add_condiment_spatial/example90/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..41f7f104aa787c35f4900cdb5340184b847fc646 --- /dev/null +++ b/Spatial/add_condiment_spatial/example90/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f2d2df7a025de41fc7be81291592c6b2c4bd6c42b544cf197e3ced38814d829 +size 738173 diff --git a/Spatial/add_condiment_spatial/example90/input/input_mask.png b/Spatial/add_condiment_spatial/example90/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ce5555df777d8e96bc26193416a6efcd16a80c63 --- /dev/null +++ b/Spatial/add_condiment_spatial/example90/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c2153d644914393283efaac1d3dd288801bbbd9b8e4f65cf7d105e093a8e833 +size 599939 diff --git a/Spatial/add_condiment_spatial/example90/input/instruction.txt b/Spatial/add_condiment_spatial/example90/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example90/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example90/output/operation_sequence.json b/Spatial/add_condiment_spatial/example90/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example90/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example91/env_config/env_config.json b/Spatial/add_condiment_spatial/example91/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..59bca40b97e543ffc6c586be3f3387e9c990799e --- /dev/null +++ b/Spatial/add_condiment_spatial/example91/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.529476021261741, + 0.003579944484296306, + 0.0044628852300171214 + ], + "orientation": [ + 0.9999494620243999, + 0.009720540998129933, + -0.00039995729490695454, + -0.002534662498256658 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.39093775594331925, + 0.08827815666402629, + -0.0007677194064232096 + ], + "orientation": [ + 0.9999878866468903, + -0.0016628154826903699, + 0.00014795891791828265, + 0.004630303695757477 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.12240823647896432, + 0.04141552438540042, + 0.9012076139781111 + ], + "orientation": [ + 0.998966571174168, + 0.023420712939540168, + -0.03441602325538646, + -0.01824273074992095 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.12136316665586928, + 0.0713626447642118, + 0.902649075070835 + ], + "orientation": [ + 0.998966571174168, + 0.023420712939540168, + -0.03441602325538646, + -0.01824273074992095 + ], + "class": "FlatContainer" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1891141502533704, + -0.13310762668568474, + 0.823988905222877 + ], + "orientation": [ + 0.998931383114035, + 0.014496406748379617, + 0.011334422220080234, + -0.042396661356807 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.14244305503128912, + -0.01622378266303495, + 0.8263364902295092 + ], + "orientation": [ + 0.9985583365645615, + 0.023943215906294925, + 0.004399356504095394, + -0.04783948737008172 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.14482981185764734, + 0.15469446728888117, + 0.7972249590483858 + ], + "orientation": [ + 0.9999857633198891, + -0.0004779747404029649, + -0.00039160987224031124, + 0.005300126356244171 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.25791515860343106, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.1826938627752499, + 0.30324424157564933, + 0.8243353937569873 + ], + "orientation": [ + 0.9968500876349314, + 0.0024715049591912093, + 0.00019059588340083466, + -0.07927015906807192 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example91/input/input.png b/Spatial/add_condiment_spatial/example91/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..42c19ea836f58577c53f5b44b122673357d1dd4b --- /dev/null +++ b/Spatial/add_condiment_spatial/example91/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:946c6c69d366c34efbbd5fd2a24163e3e2f7f7c455cac1889abed32b6de67d22 +size 837722 diff --git a/Spatial/add_condiment_spatial/example91/input/input_mask.png b/Spatial/add_condiment_spatial/example91/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e8ef9bfe8e189dec5ee4d0fe43209bfa559966a3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example91/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f72435498bb6344f592f11ec79483290e44b770e5dbc0fdaec84b81b0a40afd +size 636784 diff --git a/Spatial/add_condiment_spatial/example91/input/instruction.txt b/Spatial/add_condiment_spatial/example91/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example91/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example91/output/operation_sequence.json b/Spatial/add_condiment_spatial/example91/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example91/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example92/env_config/env_config.json b/Spatial/add_condiment_spatial/example92/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c20c1590f5cdae869048cf7a353e0b902897c120 --- /dev/null +++ b/Spatial/add_condiment_spatial/example92/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5297027949907723, + 0.007428286843030434, + 0.004007850799513997 + ], + "orientation": [ + 0.9999364855144909, + 0.010712031745914244, + -0.00021460507448472634, + -0.003497321470278003 + ], + "class": "Counter", + "materials": [ + "wood1" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.2499999999619715, + 1.6344389427301012e-08, + 0.001987636573522504 + ], + "orientation": [ + 0.9999999999855378, + -5.3782048710152915e-06, + 2.1992675098194987e-09, + -4.0188199225181485e-13 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.1088956588672277, + -0.05077295180779814, + 0.8187152458350025 + ], + "orientation": [ + 0.9999999999846886, + -1.450175549468887e-06, + 4.975254874294072e-06, + 1.940856842052127e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.10889577531907112, + -0.020772951808150322, + 0.818715158825049 + ], + "orientation": [ + 0.9999999999846886, + -1.450175549468887e-06, + 4.975254874294072e-06, + 1.940856842052127e-06 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.1618320018366464, + -0.15965139362945216, + 0.8249597541594429 + ], + "orientation": [ + 0.9979447340972709, + 0.003171616954383569, + -0.0001790528434300329, + 0.06400169117689684 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.20586842867265914, + 0.01130809430559752, + 0.7972271614638767 + ], + "orientation": [ + 0.9993218043584204, + 0.0005516587958378373, + -0.0006322486060041022, + 0.03681341152492162 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2976842761153269, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.1553635105926652, + 0.158230956153007, + 0.8248104203694773 + ], + "orientation": [ + 0.9984961981844089, + 0.0032585140834573466, + 7.518075019612581e-05, + 0.05472402255960724 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.21355893291069403, + 0.2805074422607193, + 0.8246870092859111 + ], + "orientation": [ + 0.9974542337013476, + 0.005926321078939507, + -0.003531985345435139, + 0.07097503412642815 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 2th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example92/input/input.png b/Spatial/add_condiment_spatial/example92/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..15e3f665d1c0849a345d3b79bf10ac1869979828 --- /dev/null +++ b/Spatial/add_condiment_spatial/example92/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aa8b30c3ffcdb3a34051ef63312b881ea90766cfe7d584d9398ea013ae895ef +size 897192 diff --git a/Spatial/add_condiment_spatial/example92/input/input_mask.png b/Spatial/add_condiment_spatial/example92/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0a73f530a0e3b5bec6ee3aa8c552ecdc4b310cb1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example92/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4712f85ea6defb1c45fb12cfb10c0d1a3b4b885661f40a68490e440bde89f763 +size 734905 diff --git a/Spatial/add_condiment_spatial/example92/input/instruction.txt b/Spatial/add_condiment_spatial/example92/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..2e3d61a9e48c1ea10286535827f6b5f07b4d5dd3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example92/input/instruction.txt @@ -0,0 +1 @@ + Add 2nd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example92/output/operation_sequence.json b/Spatial/add_condiment_spatial/example92/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..03de32e9e91e3dd9d3b563e1462d4bafb45c635e --- /dev/null +++ b/Spatial/add_condiment_spatial/example92/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 5 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example93/env_config/env_config.json b/Spatial/add_condiment_spatial/example93/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..69e492a1bbb374219d400ab5cd345d1cf9b6d000 --- /dev/null +++ b/Spatial/add_condiment_spatial/example93/env_config/env_config.json @@ -0,0 +1,183 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303042184299006, + 0.010719793068128525, + 0.003982245205681652 + ], + "orientation": [ + 0.9999358468683703, + 0.01094998281163978, + -7.923164505083019e-05, + -0.00289719630108871 + ], + "class": "Counter", + "materials": [ + "wood4" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.2199999999453351, + 8.316730922004859e-10, + 0.00198334892266092 + ], + "orientation": [ + 0.9999999999999196, + -4.022479441970975e-07, + 9.863884406093584e-09, + -1.0022657153762362e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_22/model.xml", + "position": [ + -0.17062499996667888, + -0.058751430119617656, + 0.8180615623117641 + ], + "orientation": [ + 0.9999997178223177, + -0.0007346169256136135, + -0.00015714022627631835, + -4.5656887758423104e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.17062496564628177, + -0.028751462499351763, + 0.8180174853129696 + ], + "orientation": [ + 0.9999997178223177, + -0.0007346169256136135, + -0.00015714022627631835, + -4.5656887758423104e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.20376822994867258, + -0.14011972011922982, + 0.797296753842279 + ], + "orientation": [ + 0.9993625278648962, + 9.838852217480162e-05, + -2.393483028314471e-05, + 0.035700527255335714 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2919675559955065, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.19295876729568004, + 0.013895188812341473, + 0.8245920936161014 + ], + "orientation": [ + 0.9989241141869936, + 0.0015662935097683426, + 0.0033286797903334733, + -0.046228570291811516 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.19625004915029512, + 0.13001528892263636, + 0.8248424612135214 + ], + "orientation": [ + 0.9987751734434538, + 6.352309700432769e-05, + -1.5272156797162538e-06, + -0.04947877196820448 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_2/model.xml", + "position": [ + 0.1545127847265902, + 0.31853386096294, + 0.8323627457228421 + ], + "orientation": [ + 0.9979557102625838, + 2.526185668044508e-05, + -7.744354514559248e-05, + -0.06390926160298994 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example93/input/input.png b/Spatial/add_condiment_spatial/example93/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a29dce18bd0cd36dd7f334a866803f4eae7702df --- /dev/null +++ b/Spatial/add_condiment_spatial/example93/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b41899211e9417eb43abbe19d234c38ee89f31f2e53865f57a1a5ac48ab4a74d +size 757394 diff --git a/Spatial/add_condiment_spatial/example93/input/input_mask.png b/Spatial/add_condiment_spatial/example93/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..aff7c6589157adc8994f6b07e0bcc9b6c5efd9fd --- /dev/null +++ b/Spatial/add_condiment_spatial/example93/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bc40ade06de3479e55d27ba5bf596e601cc9e46b152b3e60e4d8cf287ddc0cc +size 645249 diff --git a/Spatial/add_condiment_spatial/example93/input/instruction.txt b/Spatial/add_condiment_spatial/example93/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example93/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example93/output/operation_sequence.json b/Spatial/add_condiment_spatial/example93/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example93/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example94/env_config/env_config.json b/Spatial/add_condiment_spatial/example94/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..656578442f84d2e35cb3d2889c34de8a1d1d9a56 --- /dev/null +++ b/Spatial/add_condiment_spatial/example94/env_config/env_config.json @@ -0,0 +1,200 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296890338960681, + 0.007267211190067844, + 0.004017955807560301 + ], + "orientation": [ + 0.9999358378326548, + 0.01071089785489136, + -0.0002276521080131537, + -0.0036803613364494434 + ], + "class": "Counter", + "materials": [ + "wood0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/frigidaire_gas/model.xml", + "position": [ + -0.22000000002406833, + 1.2343396761038601e-09, + 0.0019833627228026353 + ], + "orientation": [ + 0.9999999999999201, + -3.986872490143779e-07, + 7.791513104224148e-09, + 3.902594808437587e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_10/model.xml", + "position": [ + -0.15048415940203494, + -0.15966874473482154, + 0.7785492779878238 + ], + "orientation": [ + 0.9999999999887241, + 3.7499705886109866e-06, + 7.703124214730223e-07, + 2.8100373581633863e-06 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1504843280041031, + -0.12966874473613904, + 0.778549502986189 + ], + "orientation": [ + 0.9999999999887241, + 3.7499705886109866e-06, + 7.703124214730223e-07, + 2.8100373581633863e-06 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1604432873754544, + -0.1626562810056476, + 0.8248408384676328 + ], + "orientation": [ + 0.9997864686299864, + 0.003689528940907625, + -0.008142726966280593, + -0.01863063386276201 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.18188078630908297, + 0.006513053199826247, + 0.7972785702327481 + ], + "orientation": [ + 0.9999296998827617, + 0.0005372139350752272, + -0.00017315302914976924, + 0.011843846992667356 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2809962117515583, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.17499162429223977, + 0.13716565167367675, + 0.8043575592668917 + ], + "orientation": [ + 0.9996874337831732, + -0.00036357757358173746, + -0.000247460977572033, + -0.024996826007054527 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.1640735976432387, + 0.31601101162582124, + 0.7971602065935927 + ], + "orientation": [ + 0.9988363172419019, + -0.00029535696147529286, + -0.0003722364745174595, + 0.04822639902487125 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2536073982113295, + 0.29999999999999993, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 4th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example94/input/input.png b/Spatial/add_condiment_spatial/example94/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0780ee6cd1151cbb40aa70696d85005bdfc69a99 --- /dev/null +++ b/Spatial/add_condiment_spatial/example94/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e64baf181db2301edd5ac751694ae4cc9ffaf02c4b0a474715577b1493790e5d +size 674559 diff --git a/Spatial/add_condiment_spatial/example94/input/input_mask.png b/Spatial/add_condiment_spatial/example94/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..df49b0c927004e5529bdadfc55168baf605f94d1 --- /dev/null +++ b/Spatial/add_condiment_spatial/example94/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f48d9b918a88c307c78925f430b5f1c8269a8c50ff9947a09761f95248cb58c7 +size 583751 diff --git a/Spatial/add_condiment_spatial/example94/input/instruction.txt b/Spatial/add_condiment_spatial/example94/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..a5305a71fd5d86faab614bcdb01437089ad66f08 --- /dev/null +++ b/Spatial/add_condiment_spatial/example94/input/instruction.txt @@ -0,0 +1 @@ + Add 4th condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example94/output/operation_sequence.json b/Spatial/add_condiment_spatial/example94/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..c2034b04231413909d94f8c3fce9fd67bb66391b --- /dev/null +++ b/Spatial/add_condiment_spatial/example94/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 8 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example95/env_config/env_config.json b/Spatial/add_condiment_spatial/example95/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3e63323845c0da2326868089d7eabb72ca4334f6 --- /dev/null +++ b/Spatial/add_condiment_spatial/example95/env_config/env_config.json @@ -0,0 +1,150 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5432195463290762, + 0.017340136218458233, + 0.004920666743259533 + ], + "orientation": [ + 0.999508973207893, + 0.00922181604261153, + -0.00029203076620679726, + -0.029944704102939913 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3576484553050931, + 0.13466809332540772, + 0.007207305845727144 + ], + "orientation": [ + 0.9995332303698168, + 0.01515455592347309, + -0.000771687952628715, + -0.026515378913812556 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.10040395661037718, + -0.06652001222592124, + 0.9030452757346797 + ], + "orientation": [ + 0.999922488049344, + -0.011216856322737653, + -0.005222328879916607, + -0.001388275374879332 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.1003171518575974, + -0.03652767693637807, + 0.9023727515235753 + ], + "orientation": [ + 0.999922488049344, + -0.011216856322737653, + -0.005222328879916607, + -0.001388275374879332 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.18017184203691597, + -0.13815702726988455, + 0.8318619664062733 + ], + "orientation": [ + 0.9808160541616397, + 0.16874651460645096, + 0.062026306991372133, + -0.07534732210224672 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1850864287103322, + -0.020241294362175085, + 0.826445047236791 + ], + "orientation": [ + 0.9867260396465498, + 0.13572640346728762, + -0.033713734495322174, + -0.08254362599043896 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.1740728718433078, + 0.155179581856974, + 0.8265657176346216 + ], + "orientation": [ + 0.9864258287994344, + 0.055025824335162316, + -0.09173517672857238, + 0.12458290526457419 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example95/input/input.png b/Spatial/add_condiment_spatial/example95/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eac55dd5cc8ee369eff54de99efd75416c80e7b3 --- /dev/null +++ b/Spatial/add_condiment_spatial/example95/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e792d68b271e2d23e79b8c8c8c25828c774212b6359fe47670ffe73da93666d7 +size 784736 diff --git a/Spatial/add_condiment_spatial/example95/input/input_mask.png b/Spatial/add_condiment_spatial/example95/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..557f08ef7f982a67b47b2b7016b1baf213f71057 --- /dev/null +++ b/Spatial/add_condiment_spatial/example95/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0781d669ec7f232d3352b4680fa7d2bf92ad1804dcb9399637aacc08b14808ff +size 634882 diff --git a/Spatial/add_condiment_spatial/example95/input/instruction.txt b/Spatial/add_condiment_spatial/example95/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example95/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example95/output/operation_sequence.json b/Spatial/add_condiment_spatial/example95/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example95/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example96/env_config/env_config.json b/Spatial/add_condiment_spatial/example96/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2257beb3a2c51e37cecd2720c8bd016e034ab553 --- /dev/null +++ b/Spatial/add_condiment_spatial/example96/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5297049830926714, + 0.007431581453150316, + 0.004007489492444397 + ], + "orientation": [ + 0.9999364432357758, + 0.010712475918485134, + -0.0002141148826295633, + -0.0035080626418907473 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/dual_gas/model.xml", + "position": [ + -0.3940614593765792, + 0.10311021485151893, + 0.001699167382159052 + ], + "orientation": [ + 0.9999066466298977, + 0.003868454755506585, + 0.00016148184945090964, + 0.013103702025344246 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.1983643449592694, + 0.027263625218427606, + 0.8258661442641134 + ], + "orientation": [ + 0.9995941331894128, + 0.004431014498938576, + -0.0003338861263425617, + 0.028139358981146865 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.20005211001548134, + 0.05721493777362598, + 0.8261313335094523 + ], + "orientation": [ + 0.9995941331894128, + 0.004431014498938576, + -0.0003338861263425617, + 0.028139358981146865 + ], + "class": "FlatContainer" + }, + { + "name": "hotsauce", + "xml_path": "obj/meshes/condiment/hotsauce/model.xml", + "position": [ + 0.17774406206244414, + -0.15486989074603968, + 0.8249229839096562 + ], + "orientation": [ + 0.9984174623714662, + 0.0063048559864322855, + -0.009702781564234528, + 0.055033404879470754 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.19186015744808707, + 0.004000397163943948, + 0.7972857707224967 + ], + "orientation": [ + 0.9984214458513664, + 0.0007376089703904275, + -0.00011509467514656084, + 0.0561610109443269 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29809053766702104, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_8/model.xml", + "position": [ + 0.18476790277791091, + 0.16775566076307716, + 0.8247262151825083 + ], + "orientation": [ + 0.9993682292518099, + 0.0005207124498780991, + -0.000422606644887399, + -0.03553438650478885 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 3th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "ketchup" + }, + "above": { + "target_entity": "ketchup", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example96/input/input.png b/Spatial/add_condiment_spatial/example96/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..adf22921a89b12576812d6f4314735ceacae8a24 --- /dev/null +++ b/Spatial/add_condiment_spatial/example96/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d9f8aa0b653ffc111cb1e6fd0f442ae553e7c92d1c3ab31c449da6d4343f8cd +size 785239 diff --git a/Spatial/add_condiment_spatial/example96/input/input_mask.png b/Spatial/add_condiment_spatial/example96/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..7aa0cc9d2ef1e46940e7f99e7dd52fc8a3cbcc62 --- /dev/null +++ b/Spatial/add_condiment_spatial/example96/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8c9c33a437fff8c43f330c66f3ef5c23697e7f4056e99f4ff409d50125233a5 +size 661175 diff --git a/Spatial/add_condiment_spatial/example96/input/instruction.txt b/Spatial/add_condiment_spatial/example96/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..4a8d0d9d6fa8ee57b9d155bc3ad7fb148c50b9d8 --- /dev/null +++ b/Spatial/add_condiment_spatial/example96/input/instruction.txt @@ -0,0 +1 @@ + Add 3rd condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example96/output/operation_sequence.json b/Spatial/add_condiment_spatial/example96/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5b3e10bc251a133f8efa86f343e2c15f174234 --- /dev/null +++ b/Spatial/add_condiment_spatial/example96/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 7 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example97/env_config/env_config.json b/Spatial/add_condiment_spatial/example97/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3a22a50b4073650e413fcd331ce15d0f1c6a0227 --- /dev/null +++ b/Spatial/add_condiment_spatial/example97/env_config/env_config.json @@ -0,0 +1,167 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303047736452008, + 0.010717220754721514, + 0.00398234685814729 + ], + "orientation": [ + 0.9999358384646964, + 0.010949902990127967, + -7.949754832396202e-05, + -0.0029003893794256343 + ], + "class": "Counter", + "materials": [ + "wood2" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/square_gas/model.xml", + "position": [ + -0.25000000033351655, + 2.614837194167186e-08, + 0.0019876255209594312 + ], + "orientation": [ + 0.9999999999855103, + -5.383307679022735e-06, + 1.5043603229166491e-09, + 3.2331066424123845e-11 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_17/model.xml", + "position": [ + -0.19924148855479143, + -0.022964432198927798, + 0.85733323284948 + ], + "orientation": [ + 0.9999999999860119, + -5.285544697685089e-06, + 2.5463592751837537e-10, + 1.9756330747055958e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_1/dish_without_plate_1.xml", + "position": [ + -0.19924150040858996, + 0.007035567799393631, + 0.8573329157167981 + ], + "orientation": [ + 0.9999999999860119, + -5.285544697685089e-06, + 2.5463592751837537e-10, + 1.9756330747055958e-07 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.20792783833638814, + -0.15964951905948901, + 0.7972991250578231 + ], + "orientation": [ + 0.9980567887643892, + 0.0001392400970826848, + -7.027672186587102e-06, + -0.06231072912527766 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.29165145837821327, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "salad_dressing", + "xml_path": "obj/meshes/condiment/salad_dressing/salad_dressing.xml", + "position": [ + 0.1660512456196296, + 0.011888016317173806, + 0.8225442715556692 + ], + "orientation": [ + 0.9998824917840415, + 0.00037810474109440165, + -7.751721084906367e-05, + -0.015324935615629181 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "ketchup", + "xml_path": "obj/meshes/condiment/ketchup/ketchup_0/model.xml", + "position": [ + 0.14763072440645908, + 0.15859400963320036, + 0.8247965226686962 + ], + "orientation": [ + 0.9993476695247049, + 0.0032206132133596587, + 0.0002898023389492402, + -0.03596914067188021 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example97/input/input.png b/Spatial/add_condiment_spatial/example97/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f5d01531be67cff68524e433be37212cac3aaa2a --- /dev/null +++ b/Spatial/add_condiment_spatial/example97/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2355f2b8c772e563e1f98ddf522ca9d44afa1f1793036e62804ea86f68726319 +size 885138 diff --git a/Spatial/add_condiment_spatial/example97/input/input_mask.png b/Spatial/add_condiment_spatial/example97/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..811d72d55c97d5e1737de314a3eca3dbf86a5d5e --- /dev/null +++ b/Spatial/add_condiment_spatial/example97/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aea8f8d4ff2b0bef63e50389ff8a67e970ce21504cb49c252c7d4874bff2a0a +size 740188 diff --git a/Spatial/add_condiment_spatial/example97/input/instruction.txt b/Spatial/add_condiment_spatial/example97/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example97/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example97/output/operation_sequence.json b/Spatial/add_condiment_spatial/example97/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example97/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example98/env_config/env_config.json b/Spatial/add_condiment_spatial/example98/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ca0b87e2af0e650881f60b5cb7af0c1113c6ef6c --- /dev/null +++ b/Spatial/add_condiment_spatial/example98/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5296800223953437, + 0.007114709761976682, + 0.004028611959676837 + ], + "orientation": [ + 0.9999352862641545, + 0.010708400547403197, + -0.0002410535334950487, + -0.0038334494561072913 + ], + "class": "Counter", + "materials": [ + "wood3" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/basic_sleek_induc/model.xml", + "position": [ + -0.2199999999538353, + -6.086112731260125e-09, + -0.010077910318939107 + ], + "orientation": [ + 0.9999999999998425, + -5.621301580488527e-07, + -7.756138721828188e-10, + -6.134772854081041e-12 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_11/model.xml", + "position": [ + -0.1468282610285658, + -0.18937007097749223, + 0.7411414253703246 + ], + "orientation": [ + 0.9999999864078731, + -0.0001516513422662209, + -6.469281246701513e-05, + 9.82306820415444e-07 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_0/dish_without_plate_0.xml", + "position": [ + -0.14682831937832913, + -0.15937007235743786, + 0.7411323262860994 + ], + "orientation": [ + 0.9999999864078731, + -0.0001516513422662209, + -6.469281246701513e-05, + 9.82306820415444e-07 + ], + "class": "FlatContainer" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce1/model.xml", + "position": [ + 0.19967934065489765, + -0.1651523960090746, + 0.8248228080122417 + ], + "orientation": [ + 0.9992610146258104, + -0.00022760141576528325, + -0.00017063130516750604, + -0.0384362294137906 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_0/model.xml", + "position": [ + 0.16646100783593462, + 0.012702110134187549, + 0.7972171334369568 + ], + "orientation": [ + 0.9979942972014262, + 0.0006027080937871666, + -0.0005723871442306163, + 0.06329843496755548 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.26554507277297, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_1/model.xml", + "position": [ + 0.17508932644466185, + 0.16577231549106924, + 0.7971704521741593 + ], + "orientation": [ + 0.999969744186258, + 0.0006767793735497122, + -0.0005455177316001405, + -0.007730141793920539 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2946638096772317, + 0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + -2.0, + 1.5, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "bbq_sauce" + }, + "above": { + "target_entity": "bbq_sauce", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example98/input/input.png b/Spatial/add_condiment_spatial/example98/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..10f3a2c2c78867aa5cf20c3c89b4d0cb49703cd5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example98/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f93fb2c1135bdd53b707be9274af62f6820da3bfdb39ce1a0a19d90de6838554 +size 655043 diff --git a/Spatial/add_condiment_spatial/example98/input/input_mask.png b/Spatial/add_condiment_spatial/example98/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..0a281fb928cf92d06263b852aff2ceb27102af33 --- /dev/null +++ b/Spatial/add_condiment_spatial/example98/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d946770cf0b6933bdd38fb34a13701bb42186988694180ae54fbca664b37c91 +size 569904 diff --git a/Spatial/add_condiment_spatial/example98/input/instruction.txt b/Spatial/add_condiment_spatial/example98/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example98/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example98/output/operation_sequence.json b/Spatial/add_condiment_spatial/example98/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example98/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example99/env_config/env_config.json b/Spatial/add_condiment_spatial/example99/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4d29b65bc9ec194b14848e4cbfb84074cc807d --- /dev/null +++ b/Spatial/add_condiment_spatial/example99/env_config/env_config.json @@ -0,0 +1,184 @@ +{ + "task": { + "components": [ + { + "name": "counter", + "xml_path": "obj/meshes/counters/counter_0/counter.xml", + "position": [ + 0.5303561225512669, + 0.010506933202240068, + 0.003978424817870231 + ], + "orientation": [ + 0.9999358468109844, + 0.010900879232942529, + -0.00012021256215367419, + -0.003075490739440769 + ], + "class": "Counter", + "materials": [ + "stone0" + ] + }, + { + "name": "stove", + "xml_path": "obj/meshes/stoves/coil_burners_induc/model.xml", + "position": [ + -0.21500000616466497, + 3.0047689073298984e-08, + 0.009963189163168365 + ], + "orientation": [ + 0.9999999999999192, + -4.0258178922112454e-07, + 1.2361789291771248e-08, + -4.252649235843418e-09 + ], + "class": "Stove" + }, + { + "name": "pan_seen", + "xml_path": "obj/meshes/tablewares/pans/pan_15/model.xml", + "position": [ + -0.142637984234697, + -0.10753537672107571, + 0.8044799439080382 + ], + "orientation": [ + 0.9999999994853729, + 2.8299047857231715e-05, + 1.0640755463548164e-05, + -1.0732748167996574e-05 + ], + "class": "FlatContainer" + }, + { + "name": "dishes", + "xml_path": "obj/meshes/dishes/dish_without_plate_2/dish_without_plate_2.xml", + "position": [ + -0.14263734025173985, + -0.07753537677603742, + 0.8044816418440566 + ], + "orientation": [ + 0.9999999994853729, + 2.8299047857231715e-05, + 1.0640755463548164e-05, + -1.0732748167996574e-05 + ], + "class": "FlatContainer" + }, + { + "name": "salt", + "xml_path": "obj/meshes/condiment/shaker/shaker_2/model.xml", + "position": [ + 0.16920981815651945, + -0.1687213032380186, + 0.7972778825707512 + ], + "orientation": [ + 0.9977676615159984, + 5.37131610167209e-05, + -0.0001142885167427789, + 0.06678081824842141 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "salt_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2705577083821299, + -0.15, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "salt" + }, + { + "name": "sugar", + "xml_path": "obj/meshes/condiment/shaker/shaker_3/model.xml", + "position": [ + 0.17585557250975142, + -0.017559324399931558, + 0.7972883248655146 + ], + "orientation": [ + 0.9994814165451651, + 5.666039242033263e-05, + -8.91252394743901e-05, + -0.032200727121621225 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "sugar_tag", + "xml_path": "obj/meshes/tube/nametag/nametag.xml", + "position": [ + 0.2757711117521736, + 0.0, + 0.75 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "class": "NameTag", + "content": "sugar" + }, + { + "name": "bbq_sauce", + "xml_path": "obj/meshes/condiment/bbq_sauce/bbq_sauce0/bbq_sauce.xml", + "position": [ + 0.20810050847349118, + 0.13251440016577468, + 0.8044415785421781 + ], + "orientation": [ + 0.9998976872152212, + 1.468663791472796e-05, + -8.684415648194304e-05, + -0.014304102350262655 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "kitchen_2", + "position": [ + 0.0, + 0.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "floorplane" + ] + }, + "instructions": [ + "Add 1th condiment from bottom to the dish" + ], + "conditions": { + "pour": { + "target_entity": "salt" + }, + "above": { + "target_entity": "salt", + "platform": "pan_seen" + } + } + } +} \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example99/input/input.png b/Spatial/add_condiment_spatial/example99/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..afe3924603455f3df564228a58547ecd053e17a5 --- /dev/null +++ b/Spatial/add_condiment_spatial/example99/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13265983a89269c145da2024147a824e081d65fd7adfcb6bdf4c5676c1c94e1e +size 692555 diff --git a/Spatial/add_condiment_spatial/example99/input/input_mask.png b/Spatial/add_condiment_spatial/example99/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e49a57e5f3578f4a1890315af1e662b6dc3ec7bd --- /dev/null +++ b/Spatial/add_condiment_spatial/example99/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6924cb4a6f281edb5ded84603d2ceecb201ccdee29513169175ef32f09565eab +size 595077 diff --git a/Spatial/add_condiment_spatial/example99/input/instruction.txt b/Spatial/add_condiment_spatial/example99/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..169751b45c80a481fb0d770da1bfb28d07ad0425 --- /dev/null +++ b/Spatial/add_condiment_spatial/example99/input/instruction.txt @@ -0,0 +1 @@ + Add 1st condiment from bottom to the dish. \ No newline at end of file diff --git a/Spatial/add_condiment_spatial/example99/output/operation_sequence.json b/Spatial/add_condiment_spatial/example99/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..887a175a91ee04400be0e59ac1cbf1af25d8bd03 --- /dev/null +++ b/Spatial/add_condiment_spatial/example99/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "pour", + "params": { + "target_container_name": 2 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example0/env_config/env_config.json b/Spatial/insert_bloom_flower/example0/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b83e430147c495ada3429e07cea7ed71ecc4462a --- /dev/null +++ b/Spatial/insert_bloom_flower/example0/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 0.013162681503690637, + -0.004302640964169308, + -0.0016214472397386268 + ], + "orientation": [ + 0.9999992462673938, + 0.0003991032519547942, + 0.0005737308742323413, + 0.0010094622934482508 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.15230764989640327, + 0.2142103643507157, + 0.78 + ], + "orientation": [ + 0.9989549955198064, + 0.0, + 0.0, + 0.04570467072437624 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2287702073616782, + -0.13664661485986507, + 0.8077699123190288 + ], + "orientation": [ + 0.9791367949788257, + 0.1097653738634625, + 0.12400208179166193, + 0.11775475841995418 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_0/rose_0.xml", + "position": [ + -0.043295740141708706, + -0.12386346744883785, + 0.8091992402470498 + ], + "orientation": [ + 0.9962876001796654, + 0.03722399351491576, + -0.07112787024460215, + -0.031084049117040838 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.2927699138453481, + -0.11002074608737183, + 0.803488219620106 + ], + "orientation": [ + 0.9854317082892649, + 0.06593493887391186, + 0.15233754950153025, + -0.03701625515450654 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example0/input/input.png b/Spatial/insert_bloom_flower/example0/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..931774e057005b5a931820a2f128fa7579c6cffc --- /dev/null +++ b/Spatial/insert_bloom_flower/example0/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bb29bf1b43fc8220b6e22d56a360d47d1e56f3f4c5b85a545e40ff6a13747fd +size 843122 diff --git a/Spatial/insert_bloom_flower/example0/input/input_mask.png b/Spatial/insert_bloom_flower/example0/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5741af4c69a42d54198621aa65d45de2fbb92998 --- /dev/null +++ b/Spatial/insert_bloom_flower/example0/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:304f91668d458b45d4a1d7bbfa9567076568273174a1cbb767ffb718784403dd +size 720854 diff --git a/Spatial/insert_bloom_flower/example0/input/instruction.txt b/Spatial/insert_bloom_flower/example0/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example0/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example0/output/operation_sequence.json b/Spatial/insert_bloom_flower/example0/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example0/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example1/env_config/env_config.json b/Spatial/insert_bloom_flower/example1/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..89912ee08bfb9e9194fcbc019c7649ca8446131c --- /dev/null +++ b/Spatial/insert_bloom_flower/example1/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.7547438570783875e-09, + 3.5240486722832817e-09, + -7.599223361790601e-07 + ], + "orientation": [ + 1.0, + -7.500873713207497e-10, + -3.865772026735174e-09, + -1.406758576219632e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.07693673065918354, + 0.2146454338581836, + 0.78 + ], + "orientation": [ + 0.9994869813989217, + 0.0, + 0.0, + -0.03202770697492326 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.2957762056850032, + -0.10454372440788207, + 0.798038274383163 + ], + "orientation": [ + 0.9958379792611602, + 0.048816911020922844, + 0.06847149452877538, + -0.035146588688232804 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.03626520151261099, + -0.20676252523799563, + 0.8074374841493928 + ], + "orientation": [ + -0.7091835088791206, + -0.21595060324165039, + -0.6710244127190783, + -0.012260718921857896 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.304927059567213, + -0.12773439240514559, + 0.8083992411793818 + ], + "orientation": [ + 0.997601264230242, + 0.036531187907440574, + -0.03886956178261273, + -0.044117423804236916 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example1/input/input.png b/Spatial/insert_bloom_flower/example1/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c78981952fe1f6fd73efc65d3ddfff0be0376b8a --- /dev/null +++ b/Spatial/insert_bloom_flower/example1/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5254d12a3e91418895c15270e3259bf0acf408b3f7258931cc1f9395d05c7a96 +size 829678 diff --git a/Spatial/insert_bloom_flower/example1/input/input_mask.png b/Spatial/insert_bloom_flower/example1/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c3c552acf381b14241c55eb3c6ad4b04a0105783 --- /dev/null +++ b/Spatial/insert_bloom_flower/example1/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7870fb7686aac95274e4f62ae13ae0ff0db28f7ca80f82bf194eccb69cd1ecf +size 710798 diff --git a/Spatial/insert_bloom_flower/example1/input/instruction.txt b/Spatial/insert_bloom_flower/example1/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example1/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example1/output/operation_sequence.json b/Spatial/insert_bloom_flower/example1/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example1/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example10/env_config/env_config.json b/Spatial/insert_bloom_flower/example10/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2d50bcdc6144b9d66260106adf44b4f8dc4e862d --- /dev/null +++ b/Spatial/insert_bloom_flower/example10/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.464415169581887e-09, + 1.7293584709968536e-08, + -7.630547644784969e-07 + ], + "orientation": [ + 1.0, + -6.914816702650619e-09, + -4.360750776842589e-09, + -2.88366197354092e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.037434949946517054, + 0.22294027342181308, + 0.78 + ], + "orientation": [ + 0.9995471415119183, + 0.0, + 0.0, + 0.03009172469888249 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.2644326141901636, + -0.05835449896142933, + 0.798056641666984 + ], + "orientation": [ + 0.9947708333220324, + 0.05032802987124157, + 0.06751525262206828, + -0.05779073666640527 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.00745947841470957, + -0.15913341934986625, + 0.7980530466760557 + ], + "orientation": [ + 0.9926212271606476, + 0.05231348122051156, + 0.06598198588890408, + -0.0872512269875742 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_0/rose_0.xml", + "position": [ + 0.27873894216288053, + -0.1310686538176478, + 0.8081554325727076 + ], + "orientation": [ + 0.9990680914772757, + 0.037353005299020026, + 0.017525696055744458, + -0.012670894398110578 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example10/input/input.png b/Spatial/insert_bloom_flower/example10/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3b2e4c3285088794d3ea95e24b2e2e938d46f87d --- /dev/null +++ b/Spatial/insert_bloom_flower/example10/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05c772c46b83b0085ca4b74ffa80b141e33b84f17077ef5400d030b1604ebb5b +size 833115 diff --git a/Spatial/insert_bloom_flower/example10/input/input_mask.png b/Spatial/insert_bloom_flower/example10/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9f71507104c26c01d1a802ab7ba40bb8b006cc37 --- /dev/null +++ b/Spatial/insert_bloom_flower/example10/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e85e6719b60545fe57d1b78ac701203c551671b6ca088840f815b00574a5d5 +size 713137 diff --git a/Spatial/insert_bloom_flower/example10/input/instruction.txt b/Spatial/insert_bloom_flower/example10/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example10/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example10/output/operation_sequence.json b/Spatial/insert_bloom_flower/example10/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example10/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example11/env_config/env_config.json b/Spatial/insert_bloom_flower/example11/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0a727a31f32322edfb1b06270f44701f6d157c66 --- /dev/null +++ b/Spatial/insert_bloom_flower/example11/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.493302257074849e-11, + 3.5058744122669023e-10, + -7.533973351981829e-07 + ], + "orientation": [ + 1.0, + -6.514840426192536e-11, + 6.020194932787567e-11, + 3.688475877632748e-11 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.02520912157433547, + 0.2367684172165043, + 0.78 + ], + "orientation": [ + 0.9974019014463051, + 0.0, + 0.0, + 0.07203781639732683 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.2784006242078584, + -0.1397114991060186, + 0.8010284027637541 + ], + "orientation": [ + 0.9991011479151077, + -2.673916162944199e-18, + 5.872724273690145e-17, + 0.0423898128648153 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.034813612770621075, + -0.10391844005618801, + 0.8084193060440914 + ], + "orientation": [ + 0.998421908664109, + 0.03764453744712345, + -0.03921550450197478, + -0.01409699636682107 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.27542664997697375, + -0.0853539967092514, + 0.8010284027637542 + ], + "orientation": [ + 0.9969642859402266, + 1.6522287866196938e-16, + -3.6081271732585855e-16, + 0.07786021165970662 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example11/input/input.png b/Spatial/insert_bloom_flower/example11/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d51c755f1a1466ddd53f2acce8ccf8b3bfb3e439 --- /dev/null +++ b/Spatial/insert_bloom_flower/example11/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:221194cc1431d0c398106447da241c2271acbf3a7d2346fd51ab5d2f942d8014 +size 820433 diff --git a/Spatial/insert_bloom_flower/example11/input/input_mask.png b/Spatial/insert_bloom_flower/example11/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d2784e29151c66dfb477f90d56c81fefb02d5d73 --- /dev/null +++ b/Spatial/insert_bloom_flower/example11/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e10d3158628eedc8ee9a386ceaf7d31b296e43f3ab65338821b55c24d59cade +size 705818 diff --git a/Spatial/insert_bloom_flower/example11/input/instruction.txt b/Spatial/insert_bloom_flower/example11/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example11/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example11/output/operation_sequence.json b/Spatial/insert_bloom_flower/example11/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example11/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example12/env_config/env_config.json b/Spatial/insert_bloom_flower/example12/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2b7b21d2d415ed19a1f163411d5348e91820cb31 --- /dev/null +++ b/Spatial/insert_bloom_flower/example12/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.463553836687944e-09, + 7.983420891894513e-09, + -7.582979116489048e-07 + ], + "orientation": [ + 1.0, + -3.0977004268269557e-09, + -1.372515093815299e-09, + 7.884428534026187e-10 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.22424242944726663, + 0.20810846510745484, + 0.78 + ], + "orientation": [ + 0.9999513314974201, + 0.0, + 0.0, + -0.00986583177114877 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.2983338338289609, + -0.09408352017332451, + 0.8010284027637541 + ], + "orientation": [ + 0.9999978028545038, + -7.239272592774893e-17, + 2.0914062214614993e-16, + 0.0020962552718873746 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.03293452875565145, + -0.1296499805722584, + 0.798052958460932 + ], + "orientation": [ + 0.9961662289128013, + 0.04802343841232069, + 0.06897872295395771, + -0.02425962729201933 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.3049324534345763, + -0.08041973349932442, + 0.8013398472669325 + ], + "orientation": [ + 0.9988450230518785, + 4.5605145446300346e-17, + 2.8328747008258815e-17, + 0.04804810011324335 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example12/input/input.png b/Spatial/insert_bloom_flower/example12/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d1fc49f44ff87fef464ce992d6f3e913d6a22401 --- /dev/null +++ b/Spatial/insert_bloom_flower/example12/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3931bdf87f34650b00777c0296b17a2cc1359c6c50957fa64e5e08c36c9985d0 +size 807957 diff --git a/Spatial/insert_bloom_flower/example12/input/input_mask.png b/Spatial/insert_bloom_flower/example12/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5c8275a6b9c91b517828278bd6dde1dbdcbdc099 --- /dev/null +++ b/Spatial/insert_bloom_flower/example12/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4590a32a8cb41e4c926aef7f6ae0d3f8100594b86128c526482886b798fa7914 +size 694594 diff --git a/Spatial/insert_bloom_flower/example12/input/instruction.txt b/Spatial/insert_bloom_flower/example12/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example12/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example12/output/operation_sequence.json b/Spatial/insert_bloom_flower/example12/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example12/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example13/env_config/env_config.json b/Spatial/insert_bloom_flower/example13/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..85b737b4c73255a4a3f8e58a9ba870ea08c198f6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example13/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2212633997582213e-08, + 1.806807345008171e-08, + -7.671931694183636e-07 + ], + "orientation": [ + 1.0, + -8.268849352269152e-09, + -4.636331039418548e-09, + -3.240658941137572e-10 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.13030729347341544, + 0.17682621023295683, + 0.78 + ], + "orientation": [ + 0.9997183340221342, + 0.0, + 0.0, + 0.023732943770390442 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.3329251533548426, + -0.060450848333748516, + 0.7980552643405526 + ], + "orientation": [ + 0.9926055432835867, + 0.052321704977056585, + 0.06594562009564431, + -0.08745198580472761 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.017155897079948558, + -0.1339249918908802, + 0.7980521610893636 + ], + "orientation": [ + 0.9962156804064195, + 0.04788185269461468, + 0.06906073085082301, + -0.022186972512183403 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + 0.2706805320882939, + -0.03706079436420517, + 0.8048813576456006 + ], + "orientation": [ + 0.9971669566062592, + 0.010033994370161737, + 0.01497982878478925, + 0.07302728489523012 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example13/input/input.png b/Spatial/insert_bloom_flower/example13/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c8208a9927b261ce8e4b763f3bb3b814dd73c07a --- /dev/null +++ b/Spatial/insert_bloom_flower/example13/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c00ec4987f67a514cd880225588d44669429cc721508f7059acb7594c8d5907d +size 866259 diff --git a/Spatial/insert_bloom_flower/example13/input/input_mask.png b/Spatial/insert_bloom_flower/example13/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5b55c74c2cbd15d2fff5711ff0ac3b148c8ae1c7 --- /dev/null +++ b/Spatial/insert_bloom_flower/example13/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fffe59cd065e753e11b73ed5cad0c09845dc2f21800c06a15586089aa7a1702 +size 749450 diff --git a/Spatial/insert_bloom_flower/example13/input/instruction.txt b/Spatial/insert_bloom_flower/example13/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example13/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example13/output/operation_sequence.json b/Spatial/insert_bloom_flower/example13/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example13/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example14/env_config/env_config.json b/Spatial/insert_bloom_flower/example14/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5b8705f811fa165283c19bacce38ba9b2d371351 --- /dev/null +++ b/Spatial/insert_bloom_flower/example14/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2054901870546546e-08, + 1.8212714352390684e-08, + -7.640737443785878e-07 + ], + "orientation": [ + 1.0, + -5.574324060365891e-09, + -9.81839260933501e-09, + -5.386906982187096e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.28597193948558464, + 0.18145305312812207, + 0.78 + ], + "orientation": [ + 0.9985705700731221, + 0.0, + 0.0, + 0.05344919628806325 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.2973738798261517, + -0.16444227377278092, + 0.8073536070986456 + ], + "orientation": [ + 0.9989694563579833, + 0.035239049886096774, + 0.027924045175858694, + -0.0062034126073477955 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.030423847285920572, + -0.11252656551304525, + 0.8010284027637541 + ], + "orientation": [ + 0.9972505986001681, + 5.4083931668781556e-17, + 3.95389436412724e-19, + 0.07410292566158642 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.2388384004068795, + -0.08865177472612566, + 0.8084317705579877 + ], + "orientation": [ + 0.9984850691719281, + 0.03830152190797095, + -0.03937486540291575, + 0.0031906166747139946 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example14/input/input.png b/Spatial/insert_bloom_flower/example14/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c9c32857e1e3716a0662418ea90c3eaaa45fa649 --- /dev/null +++ b/Spatial/insert_bloom_flower/example14/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab68559b664a86df0382356f0d88303250af4b6e4788835ed9e937e350dc7561 +size 825840 diff --git a/Spatial/insert_bloom_flower/example14/input/input_mask.png b/Spatial/insert_bloom_flower/example14/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..894b9b9b575a6f34715a61f1d04f7918d36c5518 --- /dev/null +++ b/Spatial/insert_bloom_flower/example14/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:541397e97cf33d8e7f43018c8852cfda87e77edb3bdbcb1a669aa812f6667548 +size 710366 diff --git a/Spatial/insert_bloom_flower/example14/input/instruction.txt b/Spatial/insert_bloom_flower/example14/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example14/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example14/output/operation_sequence.json b/Spatial/insert_bloom_flower/example14/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example14/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example15/env_config/env_config.json b/Spatial/insert_bloom_flower/example15/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7f42a4bbd7acf22983c991245792a11db45ea8a5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example15/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.6313447739720903e-08, + 2.6907105091682242e-08, + -7.685405092952547e-07 + ], + "orientation": [ + 1.0, + -1.0105319969881923e-08, + -3.1557304883382662e-09, + 2.8815009136968163e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.0022112619052373182, + 0.2675951375402934, + 0.78 + ], + "orientation": [ + 0.9977096669434882, + 0.0, + 0.0, + 0.0676418545540707 + ], + "class": "Vase" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.3001004009076247, + -0.047226881947554894, + 0.8083959356249524 + ], + "orientation": [ + 0.9973649023478436, + 0.036340665877549125, + -0.0388024601671827, + -0.049365743722009144 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.03701889674755928, + -0.13379364649386466, + 0.8073535874370796 + ], + "orientation": [ + 0.9979807632417903, + 0.036293588420983326, + 0.026539015749911594, + -0.044864822320921344 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.28772233967224486, + -0.046238721878024094, + 0.7980576115122446 + ], + "orientation": [ + 0.9963911394067709, + 0.04704990340331729, + 0.06988831438280067, + -0.010326055110515606 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example15/input/input.png b/Spatial/insert_bloom_flower/example15/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9b129bc5821532dc0979405b41508d66bf9f8e52 --- /dev/null +++ b/Spatial/insert_bloom_flower/example15/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b790160e46d4a452057f1807841279e9e400a2a55a7a281fa05a398a7604f2c +size 885681 diff --git a/Spatial/insert_bloom_flower/example15/input/input_mask.png b/Spatial/insert_bloom_flower/example15/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b1a689414d4dbc0e35ba56f328fb2901e5a5f7da --- /dev/null +++ b/Spatial/insert_bloom_flower/example15/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72ae8abe165009bb99f18b95dee1bcd8e62b7f49a043fc9e5b2323fc59f79fdb +size 763345 diff --git a/Spatial/insert_bloom_flower/example15/input/instruction.txt b/Spatial/insert_bloom_flower/example15/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example15/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example15/output/operation_sequence.json b/Spatial/insert_bloom_flower/example15/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example15/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example16/env_config/env_config.json b/Spatial/insert_bloom_flower/example16/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2800a40261df779684b7acb56e0af9c9a2e90718 --- /dev/null +++ b/Spatial/insert_bloom_flower/example16/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.166352872725686e-08, + -3.0530152299157694e-09, + -7.738614981590327e-07 + ], + "orientation": [ + 1.0, + -9.624661982404585e-10, + 1.3034133425246364e-08, + -1.32796877613884e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.20398341166215606, + 0.19096766066164286, + 0.78 + ], + "orientation": [ + 0.9995521323906323, + 0.0, + 0.0, + 0.029925484680115064 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + -0.26151815548592006, + -0.0853001975747675, + 0.8037000452265278 + ], + "orientation": [ + 0.999215534953662, + 0.027029869251622315, + -0.018300337019757425, + -0.022423169723981895 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.04250254871707725, + -0.10876134471455003, + 0.8046857108101444 + ], + "orientation": [ + 0.9989949174499317, + -0.0021189809980456313, + -0.009502869960666628, + 0.04375340319615136 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.2880001362522534, + -0.09690198521919276, + 0.8046856978949183 + ], + "orientation": [ + 0.9999470187483857, + -0.002501313876576904, + -0.00940943272744952, + 0.0033415117617952186 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example16/input/input.png b/Spatial/insert_bloom_flower/example16/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c954e0697879a1aeb94dd4cc3f96f7d6cba2e943 --- /dev/null +++ b/Spatial/insert_bloom_flower/example16/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2f84b9d6dadd81740b472bbc4a766aeea33cbe6e00a46ed7ac7362ed8a39204 +size 821883 diff --git a/Spatial/insert_bloom_flower/example16/input/input_mask.png b/Spatial/insert_bloom_flower/example16/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1d8c3fb5962a5ecea9b56b96b72883d27e56f09d --- /dev/null +++ b/Spatial/insert_bloom_flower/example16/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d7e4cc1bd8b96b36a5a3ba8a6d5b297ddac8d2737f4115c2955cfee7acb7b29 +size 709186 diff --git a/Spatial/insert_bloom_flower/example16/input/instruction.txt b/Spatial/insert_bloom_flower/example16/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example16/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example16/output/operation_sequence.json b/Spatial/insert_bloom_flower/example16/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example16/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example17/env_config/env_config.json b/Spatial/insert_bloom_flower/example17/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fac0d9f051f31d962db213a250a3582a2516ad15 --- /dev/null +++ b/Spatial/insert_bloom_flower/example17/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.8436499225406224e-09, + 2.0251784000796332e-09, + -7.582701243632122e-07 + ], + "orientation": [ + 1.0, + -1.0379128028457838e-09, + 1.4060972202761505e-09, + 5.379675936826907e-10 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.22103023906435737, + 0.16410627186628013, + 0.78 + ], + "orientation": [ + 0.9998982671587686, + 0.0, + 0.0, + -0.014263776950437531 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.2767008704622322, + -0.10068695490716116, + 0.898645006509821 + ], + "orientation": [ + 0.8651493089195831, + 0.050863803187133516, + 0.48891309897518465, + -0.09946621764091558 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.018323057724491044, + -0.09192206637167481, + 0.8010284027637542 + ], + "orientation": [ + 0.9975222678107469, + 5.355007479362499e-17, + -8.072434715988916e-17, + -0.0703514407933805 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + 0.34080761894686673, + -0.1365772828445987, + 0.8048813625091215 + ], + "orientation": [ + 0.9983873800588786, + 0.01185010886481341, + 0.013588687084200307, + -0.053829005586094006 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example17/input/input.png b/Spatial/insert_bloom_flower/example17/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..11e8ed179a8a2abd9c2bda67462f95ab29fb6dae --- /dev/null +++ b/Spatial/insert_bloom_flower/example17/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2db2be60de09bf867d26a4c49bd318bc793f8527eb04d9c6def5834fc2eb6fa9 +size 821211 diff --git a/Spatial/insert_bloom_flower/example17/input/input_mask.png b/Spatial/insert_bloom_flower/example17/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5b1c271cf9f25449802fff5916a10b16204b8b4f --- /dev/null +++ b/Spatial/insert_bloom_flower/example17/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d84f376a4a11bc551deec620bd6a19610717417ed4aad2f51081a77143729465 +size 713188 diff --git a/Spatial/insert_bloom_flower/example17/input/instruction.txt b/Spatial/insert_bloom_flower/example17/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example17/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example17/output/operation_sequence.json b/Spatial/insert_bloom_flower/example17/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example17/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example18/env_config/env_config.json b/Spatial/insert_bloom_flower/example18/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c9256aba6cd1b5c11685d3d782fd726905cbf7cc --- /dev/null +++ b/Spatial/insert_bloom_flower/example18/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 9.364575506047536e-11, + 4.889340353209578e-10, + -7.534089451091819e-07 + ], + "orientation": [ + 1.0, + -1.869904986520239e-11, + -2.786818306058626e-11, + -2.2387972281108806e-11 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.14668162242809582, + 0.20470733420319434, + 0.78 + ], + "orientation": [ + 0.9971967412772221, + 0.0, + 0.0, + -0.07482418850939167 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.28785905884993956, + -0.051664391496808966, + 0.8010284027637541 + ], + "orientation": [ + 0.9990843597777819, + 8.226216435526064e-17, + -6.421150360418203e-17, + 0.04278366566132171 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.03574424117789864, + -0.1488655939189547, + 0.8084422549218219 + ], + "orientation": [ + 0.9983171461460625, + 0.03883996209019985, + -0.03947426060162764, + 0.01720801573592966 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.307121167529091, + -0.07564164966073862, + 0.8010284027637542 + ], + "orientation": [ + 0.9971813760346295, + 1.3136856324992663e-17, + -8.249389728829271e-17, + -0.0750286831130792 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example18/input/input.png b/Spatial/insert_bloom_flower/example18/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f91983fd7bc1ff650c0aa89ddb5dc69cae7333a5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example18/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5714ee5231f125e1139edb4954a36fda825986a8ccad901563662b5f1cc21eb +size 810547 diff --git a/Spatial/insert_bloom_flower/example18/input/input_mask.png b/Spatial/insert_bloom_flower/example18/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bb700868696453a86c30c4cdabf773bfd3b54b56 --- /dev/null +++ b/Spatial/insert_bloom_flower/example18/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4c80b5f84a2e5884e0e2375bcf02339f7185ac2e13efc9212fbd3fc14a9e3ec +size 693459 diff --git a/Spatial/insert_bloom_flower/example18/input/instruction.txt b/Spatial/insert_bloom_flower/example18/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example18/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example18/output/operation_sequence.json b/Spatial/insert_bloom_flower/example18/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example18/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example19/env_config/env_config.json b/Spatial/insert_bloom_flower/example19/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..652ca3aebddda13d81dd9c13aea2b480c9f422ed --- /dev/null +++ b/Spatial/insert_bloom_flower/example19/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.661005819913341e-09, + 7.155098413004023e-09, + -7.730171995123365e-07 + ], + "orientation": [ + 1.0, + -4.050323648666521e-09, + 1.1375664229892976e-09, + -1.3950987212416132e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.13355944156713595, + 0.2381443192716007, + 0.78 + ], + "orientation": [ + 0.9999953698864942, + 0.0, + 0.0, + -0.003043058588606756 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.3326449052084212, + -0.13019168922461588, + 0.7980513278793222 + ], + "orientation": [ + 0.9960332533135212, + 0.04429022462821634, + 0.07162221544812962, + 0.028747044202262297 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.006048407515891442, + -0.11779965268743366, + 0.8046857238556401 + ], + "orientation": [ + 0.9997524365846326, + -0.0027203094002863607, + -0.009348323342865304, + -0.0200068565880365 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + 0.3257795867071372, + -0.08234237218739583, + 0.8048813615922203 + ], + "orientation": [ + 0.99977625318072, + 0.011257833163719328, + 0.01408325840694205, + -0.011061943817527667 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example19/input/input.png b/Spatial/insert_bloom_flower/example19/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eba54e47ecd408b379e5ae4210600b7e87ee03a1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example19/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9d1bcd7fb6686074f68d1ba179dadb65795d076091a279cf2a86981e5f84aee +size 817502 diff --git a/Spatial/insert_bloom_flower/example19/input/input_mask.png b/Spatial/insert_bloom_flower/example19/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..dd6a3fd76a5e20b0a1b53dd4b612bd8b73cd051a --- /dev/null +++ b/Spatial/insert_bloom_flower/example19/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79c43e4a3f16853e6fffb8eac793709295d85f1361399d1e3eda59ce0a605bb0 +size 707453 diff --git a/Spatial/insert_bloom_flower/example19/input/instruction.txt b/Spatial/insert_bloom_flower/example19/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example19/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example19/output/operation_sequence.json b/Spatial/insert_bloom_flower/example19/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example19/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example2/env_config/env_config.json b/Spatial/insert_bloom_flower/example2/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d338e5bbec7cc83d7a66d67551314136c6267798 --- /dev/null +++ b/Spatial/insert_bloom_flower/example2/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.467640440313031e-07, + -1.7131315002799527e-07, + -7.640560996030124e-07 + ], + "orientation": [ + 0.9999999999999993, + -6.240859724119234e-09, + -9.060647695213507e-09, + 2.845138478448646e-08 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.0918238364710736, + 0.1774165138886418, + 0.78 + ], + "orientation": [ + 0.9999979077374732, + 0.0, + 0.0, + 0.0020456100987272085 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.28646139643264407, + -0.138679213223933, + 0.8073536082363519 + ], + "orientation": [ + 0.9983089202765492, + 0.03607914359043205, + 0.02682979735084746, + -0.036847755266285954 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.6724574249663937, + -0.09317787570695155, + 0.9076372879480502 + ], + "orientation": [ + -0.7139215927323873, + -0.2858133931277213, + 0.5438292647448741, + 0.33597082395100847 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + 0.48892262520719804, + -0.01838677365042172, + 0.9531601057149874 + ], + "orientation": [ + -0.22631670317128474, + -0.3224011189773982, + 0.04928333969605929, + -0.9178286445607393 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example2/input/input.png b/Spatial/insert_bloom_flower/example2/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a97ca4efc0ef31485bacebe637456c840a0de1df --- /dev/null +++ b/Spatial/insert_bloom_flower/example2/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b8c2fec571e34c383110b1dd705a85b796527273f5b25c34c6a1499dcd82130 +size 832715 diff --git a/Spatial/insert_bloom_flower/example2/input/input_mask.png b/Spatial/insert_bloom_flower/example2/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4d615bd8136f9cabf50e4fcb2aef8248bd8648e1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example2/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8492c0e9f4eca9a4c11e31abcd7b14402b8a97321f13785445b0f221f5c48e75 +size 724508 diff --git a/Spatial/insert_bloom_flower/example2/input/instruction.txt b/Spatial/insert_bloom_flower/example2/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example2/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example2/output/operation_sequence.json b/Spatial/insert_bloom_flower/example2/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example2/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example20/env_config/env_config.json b/Spatial/insert_bloom_flower/example20/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8677454658bcc2aee7d46268cd6f538964a9f58c --- /dev/null +++ b/Spatial/insert_bloom_flower/example20/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.178068597344073e-09, + 8.9104348600996e-09, + -7.586190625402008e-07 + ], + "orientation": [ + 1.0, + -3.3370412460306418e-09, + -4.0305286828805536e-10, + 1.0714913346176679e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.12110575800781469, + 0.22556365622856084, + 0.78 + ], + "orientation": [ + 0.9997666652325475, + 0.0, + 0.0, + 0.021601275189005134 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.32101976409425076, + -0.06973251281347363, + 0.8010284027637542 + ], + "orientation": [ + 0.9994681038563138, + 1.8036092797923736e-16, + -2.4850457033660237e-16, + 0.032611491438828605 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.05237556852804831, + -0.1462135577769831, + 0.7980525527693874 + ], + "orientation": [ + 0.9926535427563924, + 0.05228986876122712, + 0.0660043359726899, + -0.08688003977278343 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + 0.310779071353408, + -0.09013623470600629, + 0.8045514409531112 + ], + "orientation": [ + 0.9983661296803444, + 0.02155968905788251, + -0.030716767585731938, + -0.04308980278325665 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example20/input/input.png b/Spatial/insert_bloom_flower/example20/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..67238cc0598aacf3b8d12cefe6ee251829113a4d --- /dev/null +++ b/Spatial/insert_bloom_flower/example20/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c93f7256542afdf79a312a7b27e7cf20567168fcaf6ddc4fc51051db08ed68ff +size 862579 diff --git a/Spatial/insert_bloom_flower/example20/input/input_mask.png b/Spatial/insert_bloom_flower/example20/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6537da88ded1ba5e73207fb5c31bc7c0cc1c055d --- /dev/null +++ b/Spatial/insert_bloom_flower/example20/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ceafeb8e2dfe4ae0f94b0d8a1108ca59815b5839f9236525963b341d72578ac +size 746448 diff --git a/Spatial/insert_bloom_flower/example20/input/instruction.txt b/Spatial/insert_bloom_flower/example20/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example20/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example20/output/operation_sequence.json b/Spatial/insert_bloom_flower/example20/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example20/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example21/env_config/env_config.json b/Spatial/insert_bloom_flower/example21/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4534aee7fa0bc5b691180f9596cf076b8b35bd72 --- /dev/null +++ b/Spatial/insert_bloom_flower/example21/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.846971129407796e-09, + -8.449261975309385e-10, + -7.636686462379692e-07 + ], + "orientation": [ + 1.0, + -5.643917536946017e-10, + -1.4646438518397086e-09, + -3.398953054995085e-11 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.005153518497354452, + 0.17624010952683566, + 0.78 + ], + "orientation": [ + 0.9996706183975308, + 0.0, + 0.0, + -0.025664269183015644 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.3443903163503765, + -0.11002450468840835, + 0.8046857398631143 + ], + "orientation": [ + 0.9989117535948783, + -0.0021012666477688547, + -0.009506556654430422, + 0.045612702058267444 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.016825680631873934, + -0.13462051936625297, + 0.8084339785459859 + ], + "orientation": [ + 0.9984659992404085, + 0.03841454454323018, + -0.03939920814722013, + 0.006137876323403233 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.2570491734540558, + -0.055060030364276334, + 0.8010284027637542 + ], + "orientation": [ + 0.9995644098703148, + 2.4287136438109978e-17, + -1.0565479552355624e-16, + 0.02951254852786337 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example21/input/input.png b/Spatial/insert_bloom_flower/example21/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7a758e965bcbd986caea5d2e4453e4aa1aebcf68 --- /dev/null +++ b/Spatial/insert_bloom_flower/example21/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbb5f467f92c140ab95ac3d64b33a07fc43278d986456ab9b57fc04b71559c13 +size 810432 diff --git a/Spatial/insert_bloom_flower/example21/input/input_mask.png b/Spatial/insert_bloom_flower/example21/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f77c8db68830b32f8e40305e4fb32e832be659f8 --- /dev/null +++ b/Spatial/insert_bloom_flower/example21/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e38613033bd4359c943e00ef1ecb9ec7c502de08d98eccdd3ef9e81ba62dbb6 +size 693552 diff --git a/Spatial/insert_bloom_flower/example21/input/instruction.txt b/Spatial/insert_bloom_flower/example21/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example21/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example21/output/operation_sequence.json b/Spatial/insert_bloom_flower/example21/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example21/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example22/env_config/env_config.json b/Spatial/insert_bloom_flower/example22/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2d591e1e1ddba549ce3fb61ce287ff05ba856e93 --- /dev/null +++ b/Spatial/insert_bloom_flower/example22/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.7058351384228715e-09, + 5.477589591045956e-11, + -7.664760150957921e-07 + ], + "orientation": [ + 1.0, + -2.9745742946055985e-10, + 9.18257687384176e-09, + -8.107318684947109e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.24842982057087046, + 0.1664201840176831, + 0.78 + ], + "orientation": [ + 0.9985947047969637, + 0.0, + 0.0, + -0.052996373002924625 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.27701724871245625, + -0.06894261945964536, + 0.8010284027637542 + ], + "orientation": [ + 0.9982329928776466, + 8.013877605565716e-17, + -9.888891686011549e-17, + -0.05942130872453549 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_0/rose_0.xml", + "position": [ + -0.03087753106436038, + -0.0999949409157843, + 0.8081580752718109 + ], + "orientation": [ + 0.9977464227048286, + 0.036117358507314595, + 0.01991443544379996, + 0.052924735758672375 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.3065449356077774, + -0.1383973520763353, + 0.8046857196259491 + ], + "orientation": [ + 0.9996642813372895, + -0.002306271757858547, + -0.009459058591244662, + 0.024011079516496024 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example22/input/input.png b/Spatial/insert_bloom_flower/example22/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..5fed1332ec5e1781ae2a7d48f28200a147f601bf --- /dev/null +++ b/Spatial/insert_bloom_flower/example22/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dcf7938f2f891a5f45050c4932656f7217b0c26e289a0ba022dd47364f221b7 +size 828803 diff --git a/Spatial/insert_bloom_flower/example22/input/input_mask.png b/Spatial/insert_bloom_flower/example22/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d3db18cba9c99fcb00febb3ccf1dade3b6694550 --- /dev/null +++ b/Spatial/insert_bloom_flower/example22/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7979dc7e164d457979a175879aa8656344f9b36b5be5c89df0f3df9c5d2589fe +size 712964 diff --git a/Spatial/insert_bloom_flower/example22/input/instruction.txt b/Spatial/insert_bloom_flower/example22/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example22/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example22/output/operation_sequence.json b/Spatial/insert_bloom_flower/example22/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example22/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example23/env_config/env_config.json b/Spatial/insert_bloom_flower/example23/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4aec85fa84fe151f16905aba1025f062ec572a30 --- /dev/null +++ b/Spatial/insert_bloom_flower/example23/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 3.828676921364822e-10, + 5.841285025996746e-09, + -7.685752654219767e-07 + ], + "orientation": [ + 1.0, + -3.4104259061346226e-09, + 7.98068122887195e-09, + -3.079940446199139e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.22621263558504537, + 0.2076948718801503, + 0.78 + ], + "orientation": [ + 0.998349837311026, + 0.0, + 0.0, + -0.05742475373084254 + ], + "class": "Vase" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + -0.2952116072038177, + -0.11782937382432489, + 0.8013398472669325 + ], + "orientation": [ + 0.9990809872538676, + -3.7014919333185304e-17, + -9.798115058276884e-17, + 0.04286234837053855 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.05249824299121529, + -0.15608332429048954, + 0.7980531106979566 + ], + "orientation": [ + 0.9954876428798698, + 0.049383520605835195, + 0.06801647712118013, + -0.04403838786874565 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.2564930259173018, + -0.06595942765670237, + 0.8046857178269504 + ], + "orientation": [ + 0.9988816837976184, + -0.002964990879209156, + -0.00927368533568104, + -0.04626650368263759 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example23/input/input.png b/Spatial/insert_bloom_flower/example23/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..56228d14e08c88e568619eea7f533055ef9f419b --- /dev/null +++ b/Spatial/insert_bloom_flower/example23/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87b4d142386ecac331c45f39b147459c01aab6ea7fe905edbce231dd5fec5fed +size 814874 diff --git a/Spatial/insert_bloom_flower/example23/input/input_mask.png b/Spatial/insert_bloom_flower/example23/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..03b5a45ac998b46bd542a9a8c3b8a9480d36f9b0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example23/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:412939c601da8eca11453c05b25a7d876212106f0e240b4da5f1da999fe1b7ab +size 699905 diff --git a/Spatial/insert_bloom_flower/example23/input/instruction.txt b/Spatial/insert_bloom_flower/example23/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example23/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example23/output/operation_sequence.json b/Spatial/insert_bloom_flower/example23/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example23/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example24/env_config/env_config.json b/Spatial/insert_bloom_flower/example24/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7150abedb19d1f6f0aa89abfc41a202915a9294a --- /dev/null +++ b/Spatial/insert_bloom_flower/example24/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1148945488055641e-08, + 1.5884012600831332e-08, + -7.627803459926151e-07 + ], + "orientation": [ + 1.0, + -6.9893329034220975e-09, + -3.050947147459353e-09, + 1.9190960498681587e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.17459496842409455, + 0.16018942095089406, + 0.78 + ], + "orientation": [ + 0.9971129206058319, + 0.0, + 0.0, + 0.07593302022775018 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.27848495667142714, + -0.06778571291958144, + 0.7980670941354182 + ], + "orientation": [ + 0.9963789086689474, + 0.04710566446982641, + 0.06982704992350851, + -0.011589211945300406 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.04363514659195104, + -0.1087160146570269, + 0.8084063801597547 + ], + "orientation": [ + 0.9980115262955886, + 0.036939665119514006, + -0.03900500274446002, + -0.032970657908392625 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.3167069348571957, + -0.08106685236382709, + 0.7980573181651934 + ], + "orientation": [ + 0.9961334504646617, + 0.04806893934451586, + 0.06918645829383485, + -0.024915054172451878 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example24/input/input.png b/Spatial/insert_bloom_flower/example24/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9cd56e7d6af20d3058b0239d511f761e48e464b6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example24/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3f68439c7bf35cf1bf24a631d844ca12c5852a35deccdedc22a28641f11bbbb +size 871665 diff --git a/Spatial/insert_bloom_flower/example24/input/input_mask.png b/Spatial/insert_bloom_flower/example24/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..555a5396531a3e43fef240312dd97d77cfa52df9 --- /dev/null +++ b/Spatial/insert_bloom_flower/example24/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:435779f01b104f5a9292c059d23aa54e1cfa0d8e5af4ee37ad1e8d552de6074d +size 750049 diff --git a/Spatial/insert_bloom_flower/example24/input/instruction.txt b/Spatial/insert_bloom_flower/example24/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example24/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example24/output/operation_sequence.json b/Spatial/insert_bloom_flower/example24/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example24/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example25/env_config/env_config.json b/Spatial/insert_bloom_flower/example25/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..f054f389e5cc9d6a4f20a16dbcfc180972504511 --- /dev/null +++ b/Spatial/insert_bloom_flower/example25/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.322084407153587e-09, + 1.594789951244626e-08, + -7.74609729466667e-07 + ], + "orientation": [ + 1.0, + -6.6557365742816e-09, + 2.900550326470463e-09, + -8.330427264367532e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.06369220488108353, + 0.24646130550066717, + 0.78 + ], + "orientation": [ + 0.9999592114493324, + 0.0, + 0.0, + -0.009031912180113582 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_0/rose_0.xml", + "position": [ + -0.2932683720481384, + -0.07027220071880656, + 0.8081596529818024 + ], + "orientation": [ + 0.9971447997691688, + 0.03818255685767864, + 0.015617630657427162, + -0.06324895459817736 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.021781280231785726, + -0.10159941338067759, + 0.8073536284296385 + ], + "orientation": [ + 0.9974780676906926, + 0.033464903622185724, + 0.030027181436749168, + 0.05491787574702496 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.2534879301211761, + -0.12466344788959476, + 0.8046857179758407 + ], + "orientation": [ + 0.9971577684606727, + -0.001823281000649162, + -0.009563885573368491, + 0.07471005646941577 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example25/input/input.png b/Spatial/insert_bloom_flower/example25/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ab77298701d488902e46c410eb2275bd3a5c9d64 --- /dev/null +++ b/Spatial/insert_bloom_flower/example25/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a409e045b209bd7b4bf6fb3163d0bd37459bb7ce5f376785ea5a9e7a9d098c5e +size 886620 diff --git a/Spatial/insert_bloom_flower/example25/input/input_mask.png b/Spatial/insert_bloom_flower/example25/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c7c884aac96295422692132cd407ba2a04c5f028 --- /dev/null +++ b/Spatial/insert_bloom_flower/example25/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dea7174331d5d2dc2d80408e6884d5434a7ceb659a6372a1c4f2a42b2f89a898 +size 761432 diff --git a/Spatial/insert_bloom_flower/example25/input/instruction.txt b/Spatial/insert_bloom_flower/example25/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example25/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example25/output/operation_sequence.json b/Spatial/insert_bloom_flower/example25/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example25/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example26/env_config/env_config.json b/Spatial/insert_bloom_flower/example26/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..865555164c4821388c85843c771cb428a22309dc --- /dev/null +++ b/Spatial/insert_bloom_flower/example26/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.185430651457239e-10, + 7.321205900665426e-09, + -7.684675857731762e-07 + ], + "orientation": [ + 1.0, + -4.1124488850775135e-09, + 4.710112652256291e-09, + -3.808280724884335e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.06182727050887946, + 0.1882494786648251, + 0.78 + ], + "orientation": [ + 0.9978700739667778, + 0.0, + 0.0, + 0.06523277919525923 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + -0.31370027643452814, + -0.11593157653726811, + 0.8052818333481766 + ], + "orientation": [ + 0.9916766271543362, + 0.06401422987395884, + 0.10225274531315641, + 0.04498912763508142 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.18563461482197893, + -0.03447912787638064, + 0.9194405958937916 + ], + "orientation": [ + 0.8814772158555437, + 0.014937936322139437, + 0.3170684906044848, + 0.34963173232958905 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.25594412617346923, + -0.05912407588706729, + 0.8046857187868304 + ], + "orientation": [ + 0.998159216437069, + -0.00309097358382086, + -0.009232471304730545, + -0.05986138987401053 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example26/input/input.png b/Spatial/insert_bloom_flower/example26/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ce6472ed390cf957de7515c1a359ded95880f389 --- /dev/null +++ b/Spatial/insert_bloom_flower/example26/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:794a23f500fed7479f5910b0065eebb4a99c393d9cecf95071d567c8fef8a1b9 +size 815592 diff --git a/Spatial/insert_bloom_flower/example26/input/input_mask.png b/Spatial/insert_bloom_flower/example26/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..73aa4f7ce51f45744568f434239ac2f55f116d0a --- /dev/null +++ b/Spatial/insert_bloom_flower/example26/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f266e39697367156fa691010e12d9212d46b0139bda86c11f472f13ad126068 +size 702797 diff --git a/Spatial/insert_bloom_flower/example26/input/instruction.txt b/Spatial/insert_bloom_flower/example26/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example26/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example26/output/operation_sequence.json b/Spatial/insert_bloom_flower/example26/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example26/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example27/env_config/env_config.json b/Spatial/insert_bloom_flower/example27/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5708a97f4ee1d0eac15b5184386d7749c57d6bd7 --- /dev/null +++ b/Spatial/insert_bloom_flower/example27/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 6.074217262546059e-09, + -1.1104143028951816e-09, + -7.644271643813941e-07 + ], + "orientation": [ + 1.0, + -1.6683020681889977e-09, + 9.161960072738968e-09, + -1.1352384841171432e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.06564940561954279, + 0.17706143698520255, + 0.78 + ], + "orientation": [ + 0.9981139860613678, + 0.0, + 0.0, + 0.06138787199999522 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + -0.2872918542117481, + -0.10269917857358397, + 0.8045514346709084 + ], + "orientation": [ + 0.9991679173526863, + 0.022385553302134643, + -0.030120307979247616, + -0.015972694941275747 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.07214756225691048, + -0.11081522681378328, + 0.8359935463607665 + ], + "orientation": [ + 0.9667295260544236, + 0.10591347000319606, + -0.0858174562607781, + -0.21645259187037055 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.2820392560810601, + -0.04844164540115729, + 0.8046857208842768 + ], + "orientation": [ + 0.9993470128324501, + -0.0022040722979723925, + -0.009483390422106743, + 0.03479590944731445 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example27/input/input.png b/Spatial/insert_bloom_flower/example27/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fca3c349c86ba4a61359aede8ad0b78aef08f476 --- /dev/null +++ b/Spatial/insert_bloom_flower/example27/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bad788aaae18216d735a66f507a8a3d60bf412b7d7b1765196a1399ca31b50c +size 822973 diff --git a/Spatial/insert_bloom_flower/example27/input/input_mask.png b/Spatial/insert_bloom_flower/example27/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..24ce92ca91f597e73ca9b548034f40426fc667f2 --- /dev/null +++ b/Spatial/insert_bloom_flower/example27/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7850597d03440a9f8ef76b8cfda0cd8fe2dc99ec7541b5e95c507714ef18bf72 +size 706187 diff --git a/Spatial/insert_bloom_flower/example27/input/instruction.txt b/Spatial/insert_bloom_flower/example27/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example27/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example27/output/operation_sequence.json b/Spatial/insert_bloom_flower/example27/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example27/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example28/env_config/env_config.json b/Spatial/insert_bloom_flower/example28/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..cb7d786aec11310935aeb1e8ac09c6616bfb9527 --- /dev/null +++ b/Spatial/insert_bloom_flower/example28/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.7494077532623452e-08, + 2.6131853008751718e-08, + -7.685258317002442e-07 + ], + "orientation": [ + 1.0, + -1.006659101332102e-08, + -8.510022853622071e-09, + -1.3465594996411945e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.2020093526027364, + 0.2417331971336556, + 0.78 + ], + "orientation": [ + 0.9988727643402644, + 0.0, + 0.0, + 0.047467890823574235 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.26709377546554475, + -0.11368231302204435, + 0.7980491096039947 + ], + "orientation": [ + 0.9964499988488034, + 0.04635174959737841, + 0.07027732779983106, + -0.00011090895922224401 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.005903816853496842, + -0.08921338655768248, + 0.8073535754078607 + ], + "orientation": [ + 0.9988297769575298, + 0.03556147968321037, + 0.0275123710148242, + -0.017819294791173414 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.3127002477632709, + -0.09735959676059312, + 0.8013398472669325 + ], + "orientation": [ + 0.9999964868894442, + 2.3994048785582182e-17, + -5.253259399575474e-19, + -0.002650699675515968 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example28/input/input.png b/Spatial/insert_bloom_flower/example28/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0628a741263e30ef5ce9778fab5440e92c9401ed --- /dev/null +++ b/Spatial/insert_bloom_flower/example28/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15d752c3d04761107fca78106d611b13cbfeb85098c197fb56add38a36208a5d +size 836932 diff --git a/Spatial/insert_bloom_flower/example28/input/input_mask.png b/Spatial/insert_bloom_flower/example28/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5798c886c5f8d8a398e32e453130ca4f78241ddb --- /dev/null +++ b/Spatial/insert_bloom_flower/example28/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61e8c04ec97ba887c7a32c1567d9799c13075571fb0db2b5b523352968445576 +size 715295 diff --git a/Spatial/insert_bloom_flower/example28/input/instruction.txt b/Spatial/insert_bloom_flower/example28/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example28/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example28/output/operation_sequence.json b/Spatial/insert_bloom_flower/example28/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example28/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example29/env_config/env_config.json b/Spatial/insert_bloom_flower/example29/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a604cf1ee111d40550022462819069195bc67700 --- /dev/null +++ b/Spatial/insert_bloom_flower/example29/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.485051817461093e-08, + 2.992562633868086e-08, + -7.684339507027596e-07 + ], + "orientation": [ + 1.0, + -1.1537194146263237e-08, + -3.2811800146717902e-09, + 2.853689712887526e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.3070951725870989, + 0.22208566805791616, + 0.78 + ], + "orientation": [ + 0.9994992930109453, + 0.0, + 0.0, + 0.03164116417928678 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.35443214307578913, + -0.08368629846845134, + 0.8010284027637541 + ], + "orientation": [ + 0.9971300820043587, + 2.479666992784921e-16, + -4.506102153199715e-16, + -0.07570732832415242 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.011410624762130232, + -0.0759352139078193, + 0.8073536208264384 + ], + "orientation": [ + 0.9961275543175605, + 0.03709297135822307, + 0.025409599685117516, + -0.07555368454930252 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + 0.34435822377853864, + -0.10821592963293199, + 0.8053061441224553 + ], + "orientation": [ + 0.9921916352105551, + 0.06569247749940993, + 0.10225983545651965, + 0.027985415319380424 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example29/input/input.png b/Spatial/insert_bloom_flower/example29/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fbd73fe04d1152aececc0c49ce9cb1043589a69e --- /dev/null +++ b/Spatial/insert_bloom_flower/example29/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1a9cfe219874a279499c33d67df3089a71a1f3138f7045d8e2a8a3a8d97a4e0 +size 831949 diff --git a/Spatial/insert_bloom_flower/example29/input/input_mask.png b/Spatial/insert_bloom_flower/example29/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..af060b2a8d861e80a688f26f4db290fb7b90cdcb --- /dev/null +++ b/Spatial/insert_bloom_flower/example29/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f296fa7c1800f13705e52b050e0912c8fe806fdcf221984da3ad9c61b40c4682 +size 706030 diff --git a/Spatial/insert_bloom_flower/example29/input/instruction.txt b/Spatial/insert_bloom_flower/example29/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example29/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example29/output/operation_sequence.json b/Spatial/insert_bloom_flower/example29/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example29/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example3/env_config/env_config.json b/Spatial/insert_bloom_flower/example3/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0426390b8ac3d3828f739c3aba26e0b8ad1a5267 --- /dev/null +++ b/Spatial/insert_bloom_flower/example3/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.8525662546661195e-09, + -1.3662480863359225e-09, + -7.64119189218674e-07 + ], + "orientation": [ + 1.0, + -1.3355497902538798e-09, + 5.099801832301464e-09, + -7.19960597336562e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.25504966172619814, + 0.17707928297089517, + 0.78 + ], + "orientation": [ + 0.9998416323466612, + 0.0, + 0.0, + 0.017796354299802225 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.35873874096696307, + -0.1349449284531099, + 0.965407071216377 + ], + "orientation": [ + 0.9896145412238959, + -0.0870100575261011, + -0.05384761520142146, + -0.1009591205619489 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.04352851032435371, + -0.059822034624744315, + 0.8046857319926002 + ], + "orientation": [ + 0.9991463049259657, + -0.0021532431786947725, + -0.009495016703678152, + 0.04014809527735548 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.35200958391752507, + -0.1367770316342052, + 0.8013398472669325 + ], + "orientation": [ + 0.999596938785572, + -3.9158349698330647e-17, + -1.1172003901349748e-16, + -0.02838943413514196 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example3/input/input.png b/Spatial/insert_bloom_flower/example3/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c4ff585ed189a11fb31687665d0b6e652bedb7f7 --- /dev/null +++ b/Spatial/insert_bloom_flower/example3/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb74cc00bcc482e731d51742d2da925d9c520d139d4d811ff051ad0b34e94771 +size 856237 diff --git a/Spatial/insert_bloom_flower/example3/input/input_mask.png b/Spatial/insert_bloom_flower/example3/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..8b81366835675fc0aa0a1358577ec46eb670ad12 --- /dev/null +++ b/Spatial/insert_bloom_flower/example3/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:894f62bf048bd0ae03e09473d905cfa7c9112f0b8022810a604e9ff9b245c8c8 +size 745709 diff --git a/Spatial/insert_bloom_flower/example3/input/instruction.txt b/Spatial/insert_bloom_flower/example3/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example3/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example3/output/operation_sequence.json b/Spatial/insert_bloom_flower/example3/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example3/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example30/env_config/env_config.json b/Spatial/insert_bloom_flower/example30/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a453990d5c23ffe67a2eecfde9bc86b94de9c80c --- /dev/null +++ b/Spatial/insert_bloom_flower/example30/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.988526664491997e-09, + 1.528771189626755e-08, + -7.744567855223458e-07 + ], + "orientation": [ + 1.0, + -6.0957731218284726e-09, + -2.531586651479019e-10, + -4.15534023999404e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.11997864626240401, + 0.2106436786137055, + 0.78 + ], + "orientation": [ + 0.9999205609329735, + 0.0, + 0.0, + 0.012604436658878119 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.23310052616284083, + -0.09471925515061623, + 0.8073536088452858 + ], + "orientation": [ + 0.9962913631170964, + 0.03290366254736766, + 0.030641267453067646, + 0.07336198946400135 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_0/chrysanthemum_0.xml", + "position": [ + -0.025771520176244043, + -0.13018631429649793, + 0.8142580755280566 + ], + "orientation": [ + 0.9973390273605894, + 0.06830191865485694, + 0.018992711311520735, + 0.016999686130515345 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.32476084031273655, + -0.13731126100043822, + 0.8046857178619707 + ], + "orientation": [ + 0.998238198070482, + -0.001978139975603065, + -0.009533088391140513, + 0.05852954041303689 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example30/input/input.png b/Spatial/insert_bloom_flower/example30/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f2bdaf0972f89adb2f3e6e5c5cfdd9a35afe9ad4 --- /dev/null +++ b/Spatial/insert_bloom_flower/example30/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8cc120dcadd22ccef2a376de9c0714f5d416966557cd1a5316252f888e01abb +size 829465 diff --git a/Spatial/insert_bloom_flower/example30/input/input_mask.png b/Spatial/insert_bloom_flower/example30/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f6b83dd683262be2bf972e6f013053d47da1f55b --- /dev/null +++ b/Spatial/insert_bloom_flower/example30/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d6d3f94f752c446a8e8590848b33c617d4d9be9a105fd9651c116dae332ab60 +size 709462 diff --git a/Spatial/insert_bloom_flower/example30/input/instruction.txt b/Spatial/insert_bloom_flower/example30/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example30/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example30/output/operation_sequence.json b/Spatial/insert_bloom_flower/example30/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example30/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example31/env_config/env_config.json b/Spatial/insert_bloom_flower/example31/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..2fac07b4f9e6eb2de77087fa8409fa19539ffb48 --- /dev/null +++ b/Spatial/insert_bloom_flower/example31/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.4767439650817939e-09, + 7.0745610517338115e-09, + -7.688940489322976e-07 + ], + "orientation": [ + 1.0, + -3.27945031460795e-09, + 7.357894529865735e-10, + -1.6504588306813523e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.17014743668117596, + 0.19603454215441493, + 0.78 + ], + "orientation": [ + 0.9993763449895202, + 0.0, + 0.0, + -0.035311769643952065 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.3182291244643502, + -0.10310919974915478, + 0.7980556053731008 + ], + "orientation": [ + 0.9927420133407961, + 0.052217037140258445, + 0.06603663903055826, + -0.08588270073712183 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.03653674594015146, + -0.13853232805864338, + 0.8046857312375127 + ], + "orientation": [ + 0.9999490871853183, + -0.002557653993691408, + -0.00939414021015511, + -0.0026517113360301657 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + 0.27769465581388225, + -0.1088621430455044, + 0.8045514123447184 + ], + "orientation": [ + 0.998931226080895, + 0.023659509806542918, + -0.02913043600552343, + 0.0269824175040333 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example31/input/input.png b/Spatial/insert_bloom_flower/example31/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..58f48585ea347a4bed4baa830a7a7a4d2f977ba4 --- /dev/null +++ b/Spatial/insert_bloom_flower/example31/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e553d8e0e72f814113585154955a6d6d73d947c81969171ad8e8638d90c4307f +size 868512 diff --git a/Spatial/insert_bloom_flower/example31/input/input_mask.png b/Spatial/insert_bloom_flower/example31/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bc014d119326a3e981565bf32c87229a6132047d --- /dev/null +++ b/Spatial/insert_bloom_flower/example31/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b7b0877dfc7de6eed5c6abcacb187583b51c61ace228d501551071b88cdeb76 +size 749939 diff --git a/Spatial/insert_bloom_flower/example31/input/instruction.txt b/Spatial/insert_bloom_flower/example31/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example31/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example31/output/operation_sequence.json b/Spatial/insert_bloom_flower/example31/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example31/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example32/env_config/env_config.json b/Spatial/insert_bloom_flower/example32/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..48cfc377d0d7447e1332eae67821432c68b255f0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example32/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.28653886623804e-09, + 1.7037004938108686e-08, + -7.743464101201512e-07 + ], + "orientation": [ + 1.0, + -7.5724203354647e-09, + -6.348208691303992e-09, + -5.52536400301299e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.17329867695058976, + 0.242587023007689, + 0.78 + ], + "orientation": [ + 0.999726901972531, + 0.0, + 0.0, + 0.023369242016064478 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.3271776924714339, + -0.0900269779604456, + 0.8073535980406179 + ], + "orientation": [ + 0.9989836763286996, + 0.03515422083206731, + 0.028030731865141597, + -0.0031738395660929172 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.013498472830570919, + -0.1043743954410789, + 0.8046857244763341 + ], + "orientation": [ + 0.9980432833853334, + -0.0019472276719580757, + -0.00953936980770796, + 0.06176417422331847 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.31681593512724915, + -0.14268749815113818, + 0.8085586952296402 + ], + "orientation": [ + 0.9969447666310169, + 0.04042229281514248, + -0.02914871883263475, + 0.06014584541770132 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example32/input/input.png b/Spatial/insert_bloom_flower/example32/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b16e95b82f79fb712220bcabb9bda6f937b0d9b7 --- /dev/null +++ b/Spatial/insert_bloom_flower/example32/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60cb66e168cbc99412dfae4442800fea2ce09f25d14e108f7dc8eced6abb40c4 +size 820450 diff --git a/Spatial/insert_bloom_flower/example32/input/input_mask.png b/Spatial/insert_bloom_flower/example32/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b20ea2d17c28095b4fa47fe26e491d40e0378f6d --- /dev/null +++ b/Spatial/insert_bloom_flower/example32/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09e67dca50686f18dcd774fdbb1851491d3ea3006cdf34eb06364ec92fc96ce5 +size 705696 diff --git a/Spatial/insert_bloom_flower/example32/input/instruction.txt b/Spatial/insert_bloom_flower/example32/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example32/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example32/output/operation_sequence.json b/Spatial/insert_bloom_flower/example32/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example32/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example33/env_config/env_config.json b/Spatial/insert_bloom_flower/example33/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3d4a159c0b48675e141455e0586ac04e5707f1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example33/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.363889629487991e-09, + 1.7634675067377548e-08, + -7.744178975729665e-07 + ], + "orientation": [ + 1.0, + -6.808172041062204e-09, + 5.3727254595875325e-09, + 4.4613990955652275e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.2907675713481426, + 0.21810483907275996, + 0.78 + ], + "orientation": [ + 0.9994845761328139, + 0.0, + 0.0, + -0.03210268014682428 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.2770182758517632, + -0.10680160184078932, + 0.8150166491999477 + ], + "orientation": [ + 0.9957294219789136, + 0.0766399053853889, + -0.04487989305644724, + 0.025199966414610926 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.05487902974917438, + -0.09884281571027792, + 0.8046857255777278 + ], + "orientation": [ + 0.999754471176626, + -0.0027193560431320774, + -0.009348580077623089, + -0.019904936965171656 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.3357304696353517, + -0.12655521821514687, + 0.8073536297105621 + ], + "orientation": [ + 0.9973834165253728, + 0.03660345036576003, + 0.026109643532639865, + -0.056610903332258995 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example33/input/input.png b/Spatial/insert_bloom_flower/example33/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7ee00221261e92fc5e6bf75ba7c5358ff975c98c --- /dev/null +++ b/Spatial/insert_bloom_flower/example33/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f711c388d700ac721cda4c198cfcc35077a64aee8cb9f29b20c9e68153c2194b +size 874798 diff --git a/Spatial/insert_bloom_flower/example33/input/input_mask.png b/Spatial/insert_bloom_flower/example33/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..86ecef7d951280772346bfa781b867ca51243b16 --- /dev/null +++ b/Spatial/insert_bloom_flower/example33/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b893fb086861566f8bd10e0fcfe6ad7b0e75a119377d342dc50b38bbe0e2a44 +size 759520 diff --git a/Spatial/insert_bloom_flower/example33/input/instruction.txt b/Spatial/insert_bloom_flower/example33/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example33/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example33/output/operation_sequence.json b/Spatial/insert_bloom_flower/example33/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example33/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example34/env_config/env_config.json b/Spatial/insert_bloom_flower/example34/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..42f5f8b1c8a336a72584ac69e3f13af2fab08c9d --- /dev/null +++ b/Spatial/insert_bloom_flower/example34/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.6852517746410807e-08, + 2.6553339692199767e-08, + -7.68525098174004e-07 + ], + "orientation": [ + 1.0, + -1.0021552338661968e-08, + -9.044262553704209e-09, + -2.166253563705965e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.23262312781963812, + 0.1494426335846413, + 0.78 + ], + "orientation": [ + 0.9974729582735987, + 0.0, + 0.0, + 0.07104714992816857 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.32515178805483497, + -0.07345499062641475, + 0.79805144819807 + ], + "orientation": [ + 0.9963592779434703, + 0.04727611964272145, + 0.06967723386760215, + -0.013350687175326769 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.030358741040883368, + -0.11853222227547051, + 0.8073535753644973 + ], + "orientation": [ + 0.9985508967352267, + 0.03588279168754329, + 0.027091979466321407, + -0.029572902099381668 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.8516452529758479, + -0.7026628705767358, + 0.8388664125098813 + ], + "orientation": [ + 0.5839279938411741, + -0.23673196045861325, + -0.5286047998547956, + 0.5688260212723343 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example34/input/input.png b/Spatial/insert_bloom_flower/example34/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3d06f10a89c493ec1a9fa740fb996687758f9139 --- /dev/null +++ b/Spatial/insert_bloom_flower/example34/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78a1289e97d40e76e3dedffe1c3d66adf8f4938fd8ca8214833b807dd7845f96 +size 846444 diff --git a/Spatial/insert_bloom_flower/example34/input/input_mask.png b/Spatial/insert_bloom_flower/example34/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e1be8fbcfd71b51f5de18b008b12319c14238458 --- /dev/null +++ b/Spatial/insert_bloom_flower/example34/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3def07ef94a50ea41627e962048eb2a5cdf51f7d2e4f155406d3ba6528c5864d +size 727697 diff --git a/Spatial/insert_bloom_flower/example34/input/instruction.txt b/Spatial/insert_bloom_flower/example34/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example34/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example34/output/operation_sequence.json b/Spatial/insert_bloom_flower/example34/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example34/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example35/env_config/env_config.json b/Spatial/insert_bloom_flower/example35/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..3320a58e3ad321d707a37429df3b323d6690a7c0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example35/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.240820455114622e-10, + 5.786680730159582e-09, + -7.685865785129417e-07 + ], + "orientation": [ + 1.0, + -2.6215649411290456e-09, + 5.017255700606759e-09, + 2.443748309425417e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.2005466289302371, + 0.2322184619390111, + 0.78 + ], + "orientation": [ + 0.9999998455517518, + 0.0, + 0.0, + 0.0005557845558173554 + ], + "class": "Vase" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.7821461636385517, + -0.2931924712241388, + 0.8650131620692459 + ], + "orientation": [ + 0.42357915403995716, + 0.2372696005116906, + 0.22125514557878778, + -0.8457718353614799 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.05247041127269545, + -0.10554930982036059, + 0.8046857313496997 + ], + "orientation": [ + 0.9968166419245398, + -0.003268729045770967, + -0.009170970932101377, + -0.07913147973386457 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.3139924037688396, + -0.14125773582271417, + 0.7980567023372562 + ], + "orientation": [ + 0.9936149049367273, + 0.05149405029348156, + 0.06665161513602595, + -0.07506893946040184 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example35/input/input.png b/Spatial/insert_bloom_flower/example35/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..4f61d238613c681fef7cf2103cfd22a3e941066c --- /dev/null +++ b/Spatial/insert_bloom_flower/example35/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebd52eef822eb5c9c2b9d68549fb44e69b52304bbf9d57ac27c384a9dbecdaa2 +size 825579 diff --git a/Spatial/insert_bloom_flower/example35/input/input_mask.png b/Spatial/insert_bloom_flower/example35/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..65644036000cb5dc451bec7d5bf9cfc625271838 --- /dev/null +++ b/Spatial/insert_bloom_flower/example35/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:340861decf12ac2b5fbbc8644e91446232046f31b327a595eb5abe9a3b142de9 +size 715777 diff --git a/Spatial/insert_bloom_flower/example35/input/instruction.txt b/Spatial/insert_bloom_flower/example35/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example35/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example35/output/operation_sequence.json b/Spatial/insert_bloom_flower/example35/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example35/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example36/env_config/env_config.json b/Spatial/insert_bloom_flower/example36/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..0736a903b85758e6d7744e9789de42151b4cabe0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example36/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.0723175065469133e-09, + 6.491378372399864e-09, + -7.73006377767747e-07 + ], + "orientation": [ + 1.0, + -4.561569554902748e-09, + 4.618194111450132e-09, + -2.213486874597598e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.14515048768981476, + 0.17131612488177278, + 0.78 + ], + "orientation": [ + 0.9983702138019469, + 0.0, + 0.0, + 0.0570693980435649 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.275205760566557, + -0.07486047968259148, + 0.7980666515638535 + ], + "orientation": [ + 0.9958850775707974, + 0.04390874134070932, + 0.07189232817523414, + 0.03341298931890261 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + 0.017103556646181878, + -0.12289849650362947, + 0.8048813604943326 + ], + "orientation": [ + 0.9992221185436309, + 0.010596130617225604, + 0.014587661391228354, + 0.035072495837283835 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.312166884951069, + -0.06491620555105276, + 0.8046857128478904 + ], + "orientation": [ + 0.9983178786017465, + -0.0030659166677663822, + -0.009240792144225012, + -0.057154362734984206 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example36/input/input.png b/Spatial/insert_bloom_flower/example36/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..789bacc274c5ba39e9e1c0e9845b06da7de6474f --- /dev/null +++ b/Spatial/insert_bloom_flower/example36/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46db338b7be24f5b04eaf46bc0f8997d352bdbb5e7348a93cb4bcef2153d7db4 +size 821113 diff --git a/Spatial/insert_bloom_flower/example36/input/input_mask.png b/Spatial/insert_bloom_flower/example36/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3ac3e695d2f62f875bc34def496bc0c6ba675b42 --- /dev/null +++ b/Spatial/insert_bloom_flower/example36/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed37a1f393b90eb6fb27426a516373af84c3294a4728e0a70c87398cbfc19ee2 +size 709283 diff --git a/Spatial/insert_bloom_flower/example36/input/instruction.txt b/Spatial/insert_bloom_flower/example36/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example36/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example36/output/operation_sequence.json b/Spatial/insert_bloom_flower/example36/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example36/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example37/env_config/env_config.json b/Spatial/insert_bloom_flower/example37/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2b0df35a69a352ca71fefdf64b1ad52b640b30 --- /dev/null +++ b/Spatial/insert_bloom_flower/example37/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.3769028353268946e-08, + 3.7564830968584734e-08, + -7.739978416195566e-07 + ], + "orientation": [ + 1.0, + -1.4075934732472172e-08, + -6.006703448534302e-09, + 3.960073078114418e-09 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.21675718861563767, + 0.17374297018363244, + 0.78 + ], + "orientation": [ + 0.9981236961610398, + 0.0, + 0.0, + -0.061229789823453784 + ], + "class": "Vase" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.3323467530097071, + -0.12906462072165364, + 0.8086041779913978 + ], + "orientation": [ + 0.9964362203860044, + 0.040464591554885194, + -0.021460070208568573, + 0.07083036721486817 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.03085267667214868, + -0.06930855173455877, + 0.8073535151966601 + ], + "orientation": [ + 0.9980035323498028, + 0.03378117867892153, + 0.029671357100125043, + 0.044355292268397746 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.2534126837015973, + -0.09795732295160102, + 0.8073535183341534 + ], + "orientation": [ + 0.9970273227686547, + 0.03675900402535745, + 0.025890913602571456, + -0.06256959220464949 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example37/input/input.png b/Spatial/insert_bloom_flower/example37/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a36b00303814095e0bc6747fc90f01d9315faddc --- /dev/null +++ b/Spatial/insert_bloom_flower/example37/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6728418cb873b338447272ef68648ce1c94d03a2abe4f1a93e5272687511e38 +size 894395 diff --git a/Spatial/insert_bloom_flower/example37/input/input_mask.png b/Spatial/insert_bloom_flower/example37/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5e402f64cd7167ea78e3725e804297a8fd19417d --- /dev/null +++ b/Spatial/insert_bloom_flower/example37/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad9a5fcb45bcc6e503ad4a5c790a9ce5abe6a65d020009691fe08b43a9fe31bd +size 767417 diff --git a/Spatial/insert_bloom_flower/example37/input/instruction.txt b/Spatial/insert_bloom_flower/example37/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example37/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example37/output/operation_sequence.json b/Spatial/insert_bloom_flower/example37/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example37/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example38/env_config/env_config.json b/Spatial/insert_bloom_flower/example38/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8484b94475bf9ddf328562cc88e64df53ade922c --- /dev/null +++ b/Spatial/insert_bloom_flower/example38/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.0671213815471013e-08, + -3.824525979587763e-09, + -7.73935597508598e-07 + ], + "orientation": [ + 1.0, + -2.677567146878034e-10, + 5.196039981535778e-09, + -2.4691783994552256e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.07122032314100686, + 0.18249473574437, + 0.78 + ], + "orientation": [ + 0.9999143956463872, + 0.0, + 0.0, + 0.013084394488106886 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2430714262371176, + -0.05756386274986013, + 0.8046857195811586 + ], + "orientation": [ + 0.9979215764640088, + -0.003126460395987451, + -0.00922049616702795, + -0.06370035261608195 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.011312434243553835, + -0.14302265152114743, + 0.8046857191698528 + ], + "orientation": [ + 0.9997224674240557, + -0.002330475065750781, + -0.009453099765584609, + 0.021452177473336356 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.2534734520266173, + -0.08838572735382326, + 0.808406304569243 + ], + "orientation": [ + 0.9980061154249705, + 0.03693349822870718, + -0.03900369370075447, + -0.03314245254426224 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example38/input/input.png b/Spatial/insert_bloom_flower/example38/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d6e2cd84eb4338fec8474da04ac0771ac4f848d5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example38/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f20d5936c6b66d31f31f5e17fb8b37b6c7a9e5379516590c823062f79a136e6 +size 828810 diff --git a/Spatial/insert_bloom_flower/example38/input/input_mask.png b/Spatial/insert_bloom_flower/example38/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9bb50393b79f3237d3f99a31d40b6565e1fa4519 --- /dev/null +++ b/Spatial/insert_bloom_flower/example38/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9924ae906a5584cd424f630cdddad5be4448e46d126703669c08c1fa8024a879 +size 709931 diff --git a/Spatial/insert_bloom_flower/example38/input/instruction.txt b/Spatial/insert_bloom_flower/example38/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example38/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example38/output/operation_sequence.json b/Spatial/insert_bloom_flower/example38/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example38/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example39/env_config/env_config.json b/Spatial/insert_bloom_flower/example39/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7523bf43cb30db48f7c49487a53266cc81faef --- /dev/null +++ b/Spatial/insert_bloom_flower/example39/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -9.423652944858389e-09, + 1.9716534903422522e-08, + -7.640740912696164e-07 + ], + "orientation": [ + 1.0, + -7.053826078906178e-09, + -7.864419275228627e-09, + -4.267966469424838e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.18128721357024025, + 0.16749999424597137, + 0.78 + ], + "orientation": [ + 0.9971123836402102, + 0.0, + 0.0, + 0.07594007105170797 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.25211071955451336, + -0.11168093100516926, + 0.807353611721306 + ], + "orientation": [ + 0.9961188029725638, + 0.03709589560528645, + 0.025405433707070713, + -0.07566894232050127 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.03752024044206621, + -0.07256409402176398, + 0.8084561597945508 + ], + "orientation": [ + 0.9977951414543276, + 0.03955301870815144, + -0.03954279566356624, + 0.035732082395518644 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.2564480426424547, + -0.09337558741753109, + 0.8010284027637542 + ], + "orientation": [ + 0.9987146818248431, + 1.9801192707696593e-16, + -5.54575442703336e-16, + -0.05068514878642825 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example39/input/input.png b/Spatial/insert_bloom_flower/example39/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..9bf68d13abe0606ed601a7a094dcf3d81a080f73 --- /dev/null +++ b/Spatial/insert_bloom_flower/example39/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eed6a7d043ac72f10049e54969b5c9358d8b32ae0495a0b689d53c43435d866d +size 873812 diff --git a/Spatial/insert_bloom_flower/example39/input/input_mask.png b/Spatial/insert_bloom_flower/example39/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..24ea4a98d9e70cb9c956d839cedefa2af0071e76 --- /dev/null +++ b/Spatial/insert_bloom_flower/example39/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a81fd1f5ab72cfecb07d393134dadc268e0dfc8fca96c5f3c32705845b3b2d5 +size 754934 diff --git a/Spatial/insert_bloom_flower/example39/input/instruction.txt b/Spatial/insert_bloom_flower/example39/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example39/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example39/output/operation_sequence.json b/Spatial/insert_bloom_flower/example39/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example39/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example4/env_config/env_config.json b/Spatial/insert_bloom_flower/example4/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..70f002d4d8afc049ff08c1b45beef36d184a96a1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example4/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -8.088034035345484e-09, + 1.4784809322095286e-08, + -7.743506160671499e-07 + ], + "orientation": [ + 1.0, + -6.1223726705334615e-09, + 3.0636834415064874e-10, + 4.07729633170592e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.06928482107812761, + 0.21977355224001366, + 0.78 + ], + "orientation": [ + 0.9978565272328236, + 0.0, + 0.0, + 0.06543967495983836 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2831281249553632, + -0.07111946912557757, + 0.8046857294316503 + ], + "orientation": [ + 0.9993531714100028, + -0.0028566575719796163, + -0.009307484740390939, + -0.034618622562047834 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.06534266653551908, + -0.08889098004307716, + 0.8083959307946449 + ], + "orientation": [ + 0.9973624557889378, + 0.0363389478408252, + -0.03880228890830879, + -0.04941654609498618 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.35638971057862895, + -0.13086110705546808, + 0.8073536388339827 + ], + "orientation": [ + 0.9981794416978687, + 0.033904075808994065, + 0.029530310988447602, + 0.04020294203407626 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example4/input/input.png b/Spatial/insert_bloom_flower/example4/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..330eb8865945d5a6941e4e08514cc1cf29f7652b --- /dev/null +++ b/Spatial/insert_bloom_flower/example4/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50349d2f90d128254abc6a8bad956d8902f1c7f1ce68203d179c5a8ce15b9ead +size 873453 diff --git a/Spatial/insert_bloom_flower/example4/input/input_mask.png b/Spatial/insert_bloom_flower/example4/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a36390cc1d9428f33c4e09891e0bcf68419e0899 --- /dev/null +++ b/Spatial/insert_bloom_flower/example4/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:132ac68db5d9f58c7a68300b4f8c0432d54db84fff9d4a1c2d1c8ced00dcd6e6 +size 752331 diff --git a/Spatial/insert_bloom_flower/example4/input/instruction.txt b/Spatial/insert_bloom_flower/example4/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example4/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example4/output/operation_sequence.json b/Spatial/insert_bloom_flower/example4/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example4/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example40/env_config/env_config.json b/Spatial/insert_bloom_flower/example40/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d7649dcf2084a523bad02160fc3af34467d85cfa --- /dev/null +++ b/Spatial/insert_bloom_flower/example40/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.563023696526572e-09, + -2.292658033214846e-09, + -7.634687407037556e-07 + ], + "orientation": [ + 1.0, + -8.001027243019201e-11, + -7.654407803030851e-10, + 6.378518186360518e-11 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.16139722815680752, + 0.20198432402650113, + 0.78 + ], + "orientation": [ + 0.9991566656639024, + 0.0, + 0.0, + 0.041060412313964616 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.3216331712169594, + -0.0905382398822704, + 0.8046857407160732 + ], + "orientation": [ + 0.9991156176708592, + -0.0029151598333247907, + -0.009289352273622547, + -0.040904673371881826 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.030114200279443008, + -0.09960184519655615, + 0.8010284027637542 + ], + "orientation": [ + 0.999771531096301, + -1.7460223121471332e-16, + 2.7430833316589373e-16, + -0.021374882674721065 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.2651839549970507, + -0.15637222703129652, + 0.8013398472669325 + ], + "orientation": [ + 0.9999949571472502, + 7.873465389118928e-17, + 1.1615010892363746e-16, + 0.003175795974145627 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example40/input/input.png b/Spatial/insert_bloom_flower/example40/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..84993c22cc203dbf133e83d82156e2137bbecec5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example40/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:674a2d2d96badd64e477d4b68a7330cfa6e8641338b673552a5d11b99688e17a +size 812782 diff --git a/Spatial/insert_bloom_flower/example40/input/input_mask.png b/Spatial/insert_bloom_flower/example40/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c8d1e29011c8d1f0dc35ca04a498846193c14401 --- /dev/null +++ b/Spatial/insert_bloom_flower/example40/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb5c5cf8588fd7d255131760515bc5c1054e6acd1d4c2e8bbbccbdee46a29350 +size 701944 diff --git a/Spatial/insert_bloom_flower/example40/input/instruction.txt b/Spatial/insert_bloom_flower/example40/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example40/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example40/output/operation_sequence.json b/Spatial/insert_bloom_flower/example40/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example40/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example41/env_config/env_config.json b/Spatial/insert_bloom_flower/example41/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a17496b1beb7f55ac700f2a54fc60c72f5e25e09 --- /dev/null +++ b/Spatial/insert_bloom_flower/example41/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.8583338860571974e-09, + -1.374540486225996e-09, + -7.641192013308716e-07 + ], + "orientation": [ + 1.0, + -5.832186184709979e-10, + -1.011700902057494e-09, + -9.866658875566865e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.08752641268695256, + 0.13815318319987502, + 0.78 + ], + "orientation": [ + 0.9988726202687462, + 0.0, + 0.0, + 0.047470922441522755 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.3173798351429233, + -0.10381568930374242, + 0.8046857393557224 + ], + "orientation": [ + 0.9991777866391623, + -0.0021607541662899644, + -0.009493219776825185, + 0.039356836846552216 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.04762431343022582, + -0.24042611793798452, + 1.2311163721995135 + ], + "orientation": [ + 0.2999985935822307, + -0.2785272632613202, + -0.5843884013972059, + 0.7006522702320027 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.310980568353095, + -0.10653867844074659, + 0.8010284027637542 + ], + "orientation": [ + 0.9977458906136945, + 3.77875016939864e-17, + -1.1575743309662517e-16, + 0.06710542275767119 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example41/input/input.png b/Spatial/insert_bloom_flower/example41/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..419f19b858c2349fb3ee8daafd0bde90b0220958 --- /dev/null +++ b/Spatial/insert_bloom_flower/example41/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c83fb4649f0fec140ae8a3f91734bc2b5d877c26d6aa8613f07a74fa9467afe +size 831216 diff --git a/Spatial/insert_bloom_flower/example41/input/input_mask.png b/Spatial/insert_bloom_flower/example41/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..15d72b587f9a9a6451593db98c46570995c1a907 --- /dev/null +++ b/Spatial/insert_bloom_flower/example41/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:367ca1c047f299e618b4ac9e0868a1f2b198efd5d8b398cf6ce84b47aa567659 +size 708532 diff --git a/Spatial/insert_bloom_flower/example41/input/instruction.txt b/Spatial/insert_bloom_flower/example41/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example41/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example41/output/operation_sequence.json b/Spatial/insert_bloom_flower/example41/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example41/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example42/env_config/env_config.json b/Spatial/insert_bloom_flower/example42/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a53d5593793929005b2bf3fa9cdca4a940f09dd1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example42/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.8402465051574927e-08, + 4.2068089227830815e-08, + -7.77166369735818e-07 + ], + "orientation": [ + 1.0, + -1.586087147676981e-08, + -1.4744202838882394e-08, + -4.234600394000192e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.008680732387138717, + 0.20178103484550317, + 0.78 + ], + "orientation": [ + 0.9981004704905184, + 0.0, + 0.0, + -0.061607230148788286 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.30796110941754706, + -0.10036004034583412, + 0.8073534589222141 + ], + "orientation": [ + 0.9987758107238168, + 0.03447682426159257, + 0.02886042722160421, + 0.020622905770151696 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.005663953699383457, + -0.09962566029367012, + 0.8073534857267993 + ], + "orientation": [ + 0.9974444933965486, + 0.03657513275478386, + 0.026150286885671923, + -0.055523911539710404 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + 0.31617653156220066, + -0.11631956816958759, + 0.804881355914617 + ], + "orientation": [ + 0.9997786105536078, + 0.010946525396463956, + 0.014326516822413905, + 0.010846860235985344 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example42/input/input.png b/Spatial/insert_bloom_flower/example42/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8314ce68eb2f4ce7202f625fd239364d74326e7d --- /dev/null +++ b/Spatial/insert_bloom_flower/example42/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c7e84bd82a75234c7c458d79c6b2b45e60ddb5562568be2df777bbe07fa77b8 +size 838962 diff --git a/Spatial/insert_bloom_flower/example42/input/input_mask.png b/Spatial/insert_bloom_flower/example42/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..3faa2cf08779854f537289d0cab0924029966f71 --- /dev/null +++ b/Spatial/insert_bloom_flower/example42/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd34ef93eb0cc1b1a63b462ca6690f3831833132f417644dec56c70b902474da +size 716579 diff --git a/Spatial/insert_bloom_flower/example42/input/instruction.txt b/Spatial/insert_bloom_flower/example42/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example42/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example42/output/operation_sequence.json b/Spatial/insert_bloom_flower/example42/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example42/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example43/env_config/env_config.json b/Spatial/insert_bloom_flower/example43/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..e060d8c2431e3de5490e3e425e8190e723b6f88f --- /dev/null +++ b/Spatial/insert_bloom_flower/example43/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.597733324659783e-09, + 2.798633029511555e-08, + -7.612973924297196e-07 + ], + "orientation": [ + 1.0, + -5.859481763919946e-09, + -2.2604850535023232e-09, + -3.509711277798209e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.2610629175997123, + 0.15132919736857198, + 0.78 + ], + "orientation": [ + 0.9998883939100206, + 0.0, + 0.0, + 0.014939870281885828 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_4/chrysanthemum_4/chrysanthemum_4.xml", + "position": [ + -0.2903497035910439, + -0.10957535007862514, + 0.8136239957078515 + ], + "orientation": [ + 0.9944079923295858, + 0.09718781030805963, + -0.007020978619870956, + 0.04071830273704888 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.04321298053847041, + -0.08215281650024919, + 0.7980525778253271 + ], + "orientation": [ + 0.9934537587307762, + 0.05164355397278544, + 0.06650984814771148, + -0.07719464162828943 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.3043595196996913, + -0.12931628497021475, + 0.807967163693338 + ], + "orientation": [ + 0.9993988687200638, + 0.01680323701290071, + -0.02642381142637925, + 0.014877318866248278 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example43/input/input.png b/Spatial/insert_bloom_flower/example43/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2fd2983179c822e000401ff9f1a9ad9da9a80762 --- /dev/null +++ b/Spatial/insert_bloom_flower/example43/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0360072ef2d9850ec1b57d9ac04ab2da1fbeac73706d404e232e51557df1f5b +size 818093 diff --git a/Spatial/insert_bloom_flower/example43/input/input_mask.png b/Spatial/insert_bloom_flower/example43/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..336c82ec945ba5212c23619f8fd6a0483ec2592d --- /dev/null +++ b/Spatial/insert_bloom_flower/example43/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e315cce910a08444f6fb817562467502f017f670ed9373326e2db6800d2d922c +size 703753 diff --git a/Spatial/insert_bloom_flower/example43/input/instruction.txt b/Spatial/insert_bloom_flower/example43/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example43/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example43/output/operation_sequence.json b/Spatial/insert_bloom_flower/example43/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example43/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example44/env_config/env_config.json b/Spatial/insert_bloom_flower/example44/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..458d4bf21acd3955594a7294c4e28210c76a80e8 --- /dev/null +++ b/Spatial/insert_bloom_flower/example44/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.596127121142255e-09, + 8.395042047086507e-09, + -7.584217408949239e-07 + ], + "orientation": [ + 1.0, + -3.4348506857507756e-09, + -1.5525633596123192e-09, + 7.812868426127378e-10 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.30526501165093817, + 0.14130926234141178, + 0.78 + ], + "orientation": [ + 0.9995671381885518, + 0.0, + 0.0, + -0.02941999751102424 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_0/chrysanthemum_0.xml", + "position": [ + -0.24696626270404132, + -0.08956618501795338, + 0.8142581754967825 + ], + "orientation": [ + 0.9967285758591742, + 0.06786988339381715, + 0.02048134996461036, + 0.03881158715486366 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.01977324293948337, + -0.09223668369785072, + 0.7980540633724972 + ], + "orientation": [ + 0.9961939172399039, + 0.04793491669800367, + 0.06906428099725923, + -0.023022773631808255 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.28170710268723276, + -0.09917574764033715, + 0.8010284027637542 + ], + "orientation": [ + 0.9999999299071194, + 1.6267068578347963e-16, + -3.891006719931801e-16, + -0.0003744138837601142 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example44/input/input.png b/Spatial/insert_bloom_flower/example44/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2b7e5f159c5aa673afef2f2c316c2693786dec33 --- /dev/null +++ b/Spatial/insert_bloom_flower/example44/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a8e998049a6d02d1b1e6b59a0b18524ad705b99c567ae46bc09473724dccf9a +size 830017 diff --git a/Spatial/insert_bloom_flower/example44/input/input_mask.png b/Spatial/insert_bloom_flower/example44/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..387a137074d685c68f333b830739411485e23de9 --- /dev/null +++ b/Spatial/insert_bloom_flower/example44/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec1d9c929a5f8de996bba7c52fb07c88551b44366e78c6d8713644ea0eedb740 +size 717750 diff --git a/Spatial/insert_bloom_flower/example44/input/instruction.txt b/Spatial/insert_bloom_flower/example44/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example44/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example44/output/operation_sequence.json b/Spatial/insert_bloom_flower/example44/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example44/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example45/env_config/env_config.json b/Spatial/insert_bloom_flower/example45/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5b31caaa6fdfba6659c6416c966d6b673f612883 --- /dev/null +++ b/Spatial/insert_bloom_flower/example45/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.141224969268833e-08, + -3.8951443009591e-09, + -7.744816006349451e-07 + ], + "orientation": [ + 1.0, + 9.269605354765593e-11, + 1.4250521379838668e-08, + -1.4814388649589367e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.2546522011019445, + 0.24083959736616187, + 0.78 + ], + "orientation": [ + 0.9988151723551282, + 0.0, + 0.0, + -0.04866468404495884 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.2605854635054745, + -0.06188499113452631, + 0.8150169909841635 + ], + "orientation": [ + 0.9955737567920434, + 0.0739988203583882, + -0.049108281169781824, + -0.03074810714652067 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.03293559668686894, + -0.11413154400657544, + 0.8046857057225726 + ], + "orientation": [ + 0.9988419432269197, + -0.0029729034999209703, + -0.009271278521639484, + -0.04711663920554098 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.32687324917266236, + -0.09852285681088858, + 0.8046856948154727 + ], + "orientation": [ + 0.9999132021175029, + -0.0026161008863025423, + -0.00937817904087991, + -0.008876598737796317 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example45/input/input.png b/Spatial/insert_bloom_flower/example45/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..8fd5bf14609b49bdb86683d5a7fdcda92b6aaf78 --- /dev/null +++ b/Spatial/insert_bloom_flower/example45/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5335bbe1a7ab69707e63e09b7238226ba6c92cc3360656a16f4eb81c06a96818 +size 867160 diff --git a/Spatial/insert_bloom_flower/example45/input/input_mask.png b/Spatial/insert_bloom_flower/example45/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f6340da309718710a197d2b3743ae2169c0aada0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example45/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e5fb54f9919f9abd61618b5d580eac7a2865070edebab50c159e75fa7a6532d +size 756175 diff --git a/Spatial/insert_bloom_flower/example45/input/instruction.txt b/Spatial/insert_bloom_flower/example45/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example45/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example45/output/operation_sequence.json b/Spatial/insert_bloom_flower/example45/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example45/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example46/env_config/env_config.json b/Spatial/insert_bloom_flower/example46/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..06514e7cc1f73f26171203355f1f950133a18b91 --- /dev/null +++ b/Spatial/insert_bloom_flower/example46/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.575833784682201e-09, + 9.629784074497184e-09, + -7.627369734569815e-07 + ], + "orientation": [ + 1.0, + -4.3540030914125035e-09, + -1.2109373431153953e-09, + 2.4314985515602964e-09 + ], + "class": "Table", + "materials": [ + "stone" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.057630700367879456, + 0.21038903357847233, + 0.78 + ], + "orientation": [ + 0.9999799967381431, + 0.0, + 0.0, + 0.00632503941358619 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.2837941835456568, + -0.06685639097253657, + 0.8010284027637541 + ], + "orientation": [ + 0.999783182355273, + 7.519814744725823e-17, + -1.6755886770887778e-16, + -0.020822782704599804 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + -0.020429435907433728, + -0.0691803050999749, + 0.8048813587581335 + ], + "orientation": [ + 0.9977052960125505, + 0.010150325372382887, + 0.014901317549597063, + 0.06526150426269876 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.2722013777791011, + -0.12924501266071886, + 0.7980574628469195 + ], + "orientation": [ + 0.9958289473052294, + 0.04877191351857725, + 0.06867367273215887, + -0.0350704267748532 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example46/input/input.png b/Spatial/insert_bloom_flower/example46/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a6162a3872426f3317f2682d2179c0d43b0cde3a --- /dev/null +++ b/Spatial/insert_bloom_flower/example46/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d6d391888498c23faa327e71a930f53088594887e3b5f1b70ad7b9f62d0214a +size 817397 diff --git a/Spatial/insert_bloom_flower/example46/input/input_mask.png b/Spatial/insert_bloom_flower/example46/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..5e32aa6dacf1a13d9c438ea5c83094c9f683749d --- /dev/null +++ b/Spatial/insert_bloom_flower/example46/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2955d258a960542a0ae6ed1efc8a8031fa605af7533e9b9c78226cd6448de6cb +size 701390 diff --git a/Spatial/insert_bloom_flower/example46/input/instruction.txt b/Spatial/insert_bloom_flower/example46/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example46/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example46/output/operation_sequence.json b/Spatial/insert_bloom_flower/example46/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example46/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example47/env_config/env_config.json b/Spatial/insert_bloom_flower/example47/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..7206edb460d2c7a654d9c7d3d41d6b2f90eec951 --- /dev/null +++ b/Spatial/insert_bloom_flower/example47/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.636871487366068e-09, + 8.107908014801137e-09, + -7.583936625318628e-07 + ], + "orientation": [ + 1.0, + -2.957629881058117e-09, + 5.657139725792264e-10, + 2.447529379072384e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.10842384023839469, + 0.17114586861226513, + 0.78 + ], + "orientation": [ + 0.9996315675849321, + 0.0, + 0.0, + 0.027142753870809375 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.2850544115077631, + -0.1329940464788469, + 0.8150171136608416 + ], + "orientation": [ + 0.994995263757103, + 0.07324792776957295, + -0.05022003456562649, + -0.045794260629727024 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.13873202716957525, + -0.032158043968861676, + 0.8137933898092501 + ], + "orientation": [ + 0.8722085541292548, + 0.19604718387141665, + -0.13549283250398342, + 0.4271527035380778 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.3234353465665061, + -0.1426247148047661, + 0.7980579827488036 + ], + "orientation": [ + 0.9964446250281594, + 0.04640056055254241, + 0.07031277441083499, + -0.0011004487951606508 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example47/input/input.png b/Spatial/insert_bloom_flower/example47/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..834425285271b4526c12203295d3cfe63e8ed60e --- /dev/null +++ b/Spatial/insert_bloom_flower/example47/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfbef5353353469e6d3fb733aa162a7f17e4709cfddf8163613f6886b137fa4f +size 841770 diff --git a/Spatial/insert_bloom_flower/example47/input/input_mask.png b/Spatial/insert_bloom_flower/example47/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2a7eda3f9b5116c5155b835184b69122b6f89af8 --- /dev/null +++ b/Spatial/insert_bloom_flower/example47/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb6d7b305b5d0e2a70f4c810976b02741b753468db1fb30b445249b787cf0b92 +size 723645 diff --git a/Spatial/insert_bloom_flower/example47/input/instruction.txt b/Spatial/insert_bloom_flower/example47/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example47/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example47/output/operation_sequence.json b/Spatial/insert_bloom_flower/example47/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example47/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example48/env_config/env_config.json b/Spatial/insert_bloom_flower/example48/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5a9992acd312005abe07fec021f5259d5c3c1e00 --- /dev/null +++ b/Spatial/insert_bloom_flower/example48/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -6.317799652610727e-09, + 7.657186215290265e-09, + -7.58393358077693e-07 + ], + "orientation": [ + 1.0, + -2.753228639419498e-09, + 1.2917079811006782e-10, + 2.0987501871958352e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.1106493925834686, + 0.21442503395775223, + 0.78 + ], + "orientation": [ + 0.9999999116370303, + 0.0, + 0.0, + 0.00042038783475926165 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.26537528238528585, + -0.11952367244705694, + 0.8150165676269404 + ], + "orientation": [ + 0.994113666553077, + 0.07824912553479789, + -0.042013054198739436, + 0.062048332792521844 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.05915652211481303, + -0.12830825238207788, + 1.0234603177371042 + ], + "orientation": [ + 0.9643054943517643, + -0.19968761378352448, + 0.15002962809555925, + 0.08792542952952616 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.30733410538132194, + -0.1502298583187617, + 0.7980580379647684 + ], + "orientation": [ + 0.9957068194229077, + 0.04357976964655303, + 0.0720870536411334, + 0.03836912990427366 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example48/input/input.png b/Spatial/insert_bloom_flower/example48/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..d72ffd1cd1112c5b3eb089ff4b500e385329126d --- /dev/null +++ b/Spatial/insert_bloom_flower/example48/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b2d0e487e35f71ac0c8b70771451bb53756ace499acc798e884aca136425832 +size 819265 diff --git a/Spatial/insert_bloom_flower/example48/input/input_mask.png b/Spatial/insert_bloom_flower/example48/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..38ab34f371b3133d2df8f320c2c2c9fb9971ceae --- /dev/null +++ b/Spatial/insert_bloom_flower/example48/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc5eb84bec481720b55d5935081e5b93518377f15ffb7bc26d25b59954ca6ad7 +size 704388 diff --git a/Spatial/insert_bloom_flower/example48/input/instruction.txt b/Spatial/insert_bloom_flower/example48/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example48/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example48/output/operation_sequence.json b/Spatial/insert_bloom_flower/example48/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example48/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example49/env_config/env_config.json b/Spatial/insert_bloom_flower/example49/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..94161e21655320f18ec233ff06b38b4b6dac01ee --- /dev/null +++ b/Spatial/insert_bloom_flower/example49/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.4717165824184834e-08, + 2.680982770098649e-08, + -7.671989049407641e-07 + ], + "orientation": [ + 1.0, + -1.1476834775197098e-08, + -5.057043875376562e-09, + 6.257849061278523e-10 + ], + "class": "Table", + "materials": [ + "wood1" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.09185004987104325, + 0.18069633465221976, + 0.78 + ], + "orientation": [ + 0.9990182267240848, + 0.0, + 0.0, + -0.04430104595904362 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + -0.28816105965406125, + -0.06649922415779604, + 0.805269929789006 + ], + "orientation": [ + 0.9935808768604941, + 0.07107636168002032, + 0.05298589042641082, + -0.0702686798167084 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.049574535243987326, + -0.08012198388287672, + 0.798051838050301 + ], + "orientation": [ + 0.9959603719860421, + 0.04853651092006021, + 0.06859613054829387, + -0.031649888071421675 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.2554807820111878, + -0.06459980567826451, + 0.7980482124213092 + ], + "orientation": [ + 0.9964374982877341, + 0.045991527314391205, + 0.07051199904444765, + 0.005014918955238583 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example49/input/input.png b/Spatial/insert_bloom_flower/example49/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..eff07358ada545939bf7156f030622a340efc612 --- /dev/null +++ b/Spatial/insert_bloom_flower/example49/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18803fe94f1e2f529a5a18436ceb0637bcec97f2ff8831e9d74f8d3c20bec29a +size 838828 diff --git a/Spatial/insert_bloom_flower/example49/input/input_mask.png b/Spatial/insert_bloom_flower/example49/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..ef8554ec3d4ef5c9d2c456adff3b5fc6fc0f5a6a --- /dev/null +++ b/Spatial/insert_bloom_flower/example49/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e55f90622ba7c35309b617701828d2170d5ce12d94b812bd6bfe751026fc80c +size 719561 diff --git a/Spatial/insert_bloom_flower/example49/input/instruction.txt b/Spatial/insert_bloom_flower/example49/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example49/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example49/output/operation_sequence.json b/Spatial/insert_bloom_flower/example49/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example49/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example5/env_config/env_config.json b/Spatial/insert_bloom_flower/example5/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e3a6fe248b9d16ee3a63c78d8574d3b6c00613 --- /dev/null +++ b/Spatial/insert_bloom_flower/example5/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 7.832047771932527e-10, + 6.888034239327118e-09, + -7.688946106992821e-07 + ], + "orientation": [ + 1.0, + -5.0433516894277646e-09, + 5.179544341477209e-09, + 2.0701929805262373e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.036611803425381534, + 0.19854857347102722, + 0.78 + ], + "orientation": [ + 0.9996762144804806, + 0.0, + 0.0, + 0.025445357179179808 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + -0.32754269252721036, + -0.14875452313278154, + 0.8045514341165686 + ], + "orientation": [ + 0.9992944442918315, + 0.02281919786167639, + -0.029793024357524543, + -0.0015078183114504225 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.008739402401361092, + -0.05840787417021283, + 0.8046857281253454 + ], + "orientation": [ + 0.9997019919711296, + -0.0023216351148078566, + -0.009455230431646791, + 0.022386064344446583 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.28843814857617084, + -0.05816359606839289, + 0.7980570623872482 + ], + "orientation": [ + 0.9956929970749892, + 0.04902355610737459, + 0.06850719699144157, + -0.038715765300299555 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example5/input/input.png b/Spatial/insert_bloom_flower/example5/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2267e24043d541251d3a5e47387b0ee03cd157d5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example5/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0043c1f5872c2c287b14262264c0e1782f216da215009f46d5ded02db9646235 +size 862861 diff --git a/Spatial/insert_bloom_flower/example5/input/input_mask.png b/Spatial/insert_bloom_flower/example5/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..973c01ffff07fcbb710aa0ef8a164fa8917fb314 --- /dev/null +++ b/Spatial/insert_bloom_flower/example5/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9612624ce8b4638942fbdb879cc01e3a85b391e5f3cc3e3aa16d79e4323d833 +size 749625 diff --git a/Spatial/insert_bloom_flower/example5/input/instruction.txt b/Spatial/insert_bloom_flower/example5/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example5/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example5/output/operation_sequence.json b/Spatial/insert_bloom_flower/example5/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example5/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example50/env_config/env_config.json b/Spatial/insert_bloom_flower/example50/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5344b904564e894c9e64c2b90e1519746524f294 --- /dev/null +++ b/Spatial/insert_bloom_flower/example50/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.368770641157326e-09, + -2.145360905499656e-09, + -7.642431358051204e-07 + ], + "orientation": [ + 1.0, + -2.913877659324758e-10, + 4.784025090358637e-09, + -7.925721859335171e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + 0.16646763823646438, + 0.16432624198658263, + 0.78 + ], + "orientation": [ + 0.9987492835030242, + 0.0, + 0.0, + -0.049998687004719676 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_0/chrysanthemum_0.xml", + "position": [ + -0.3494663533131552, + -0.08164305842712687, + 0.8142579798312999 + ], + "orientation": [ + 0.9972670848910887, + 0.06897274667779206, + 0.016393260540962303, + -0.020793811997514528 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.006198131171056774, + -0.06757561192466316, + 0.8046857327423621 + ], + "orientation": [ + 0.9977026153224763, + -0.003157322620201301, + -0.009209941213991591, + -0.06704252139797649 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.2680607409023918, + -0.15778196212233844, + 0.8010284027637542 + ], + "orientation": [ + 0.9986848821192362, + 6.530999344654277e-19, + 4.539640707603465e-17, + 0.05126895967822435 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example50/input/input.png b/Spatial/insert_bloom_flower/example50/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..772a93c0279ca591839a5c024d3c187161bcf0e5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example50/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:586e700cb7e73e1c3194d85b56bbf2153ce2fc7b6fb64f001b8c2eccaa85df70 +size 863054 diff --git a/Spatial/insert_bloom_flower/example50/input/input_mask.png b/Spatial/insert_bloom_flower/example50/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..571efa8e8bca30510dc6712247e90ffe9250a7bb --- /dev/null +++ b/Spatial/insert_bloom_flower/example50/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7ac999b331d6be3973170fe7ba4f29ea39bedfabde13c729dc038d732ecec4 +size 751660 diff --git a/Spatial/insert_bloom_flower/example50/input/instruction.txt b/Spatial/insert_bloom_flower/example50/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example50/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example50/output/operation_sequence.json b/Spatial/insert_bloom_flower/example50/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example50/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example51/env_config/env_config.json b/Spatial/insert_bloom_flower/example51/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fb24d123850a5219957600921f086bb9b6648a23 --- /dev/null +++ b/Spatial/insert_bloom_flower/example51/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3209703785140483e-10, + 4.748472129826238e-10, + -7.539575960242034e-07 + ], + "orientation": [ + 1.0, + -5.489260997840909e-11, + -1.9739528361379112e-11, + 6.0262923548287956e-12 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.25087135957262435, + 0.15230671286410413, + 0.78 + ], + "orientation": [ + 0.9992264748226614, + 0.0, + 0.0, + -0.03932495408105747 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.31546611018440474, + -0.08965916702101849, + 0.8953739880065914 + ], + "orientation": [ + 0.6614845704280242, + 0.24461952809862403, + 0.6962421878009222, + -0.13358991535533224 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_3/chrysanthemum_3/chrysanthemum_3.xml", + "position": [ + 0.01154480957052714, + -0.08904743070084258, + 0.8223938700520781 + ], + "orientation": [ + 0.995781329572587, + 0.08471842044797685, + 0.03120652515431416, + -0.016385533230387574 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.3304733288248767, + -0.0963340429498572, + 0.8010284027637541 + ], + "orientation": [ + 0.9990205620987009, + 2.8373828114047665e-17, + 3.221791252869706e-17, + -0.044248350296883426 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example51/input/input.png b/Spatial/insert_bloom_flower/example51/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ce8b06d8c96f2df131bb1706bc62998a1d34e655 --- /dev/null +++ b/Spatial/insert_bloom_flower/example51/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab6ac67d05864841df6211862953e4bef2c5a4fca28bdb50ce0fb45e056633f2 +size 844113 diff --git a/Spatial/insert_bloom_flower/example51/input/input_mask.png b/Spatial/insert_bloom_flower/example51/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..9801459ab4a3346aa20041a786f77cd4f9f8ce31 --- /dev/null +++ b/Spatial/insert_bloom_flower/example51/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dbdff4478ae850860cab30a26454fc28967ed4da6c852b45fd9fb4b84669b03 +size 721118 diff --git a/Spatial/insert_bloom_flower/example51/input/instruction.txt b/Spatial/insert_bloom_flower/example51/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example51/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example51/output/operation_sequence.json b/Spatial/insert_bloom_flower/example51/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example51/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example52/env_config/env_config.json b/Spatial/insert_bloom_flower/example52/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a9464a05108ea1ba496bc95400285da20b2aab --- /dev/null +++ b/Spatial/insert_bloom_flower/example52/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.2579589278696894e-09, + 7.382902864128638e-09, + -7.688949025104226e-07 + ], + "orientation": [ + 1.0, + -3.456428662510416e-09, + 6.154777527805204e-09, + 2.707605287559252e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.060361635525527285, + 0.15833136759993627, + 0.78 + ], + "orientation": [ + 0.9998276941469446, + 0.0, + 0.0, + -0.018562920481534535 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + -0.2740548894158373, + -0.0980055534683943, + 0.804551436041694 + ], + "orientation": [ + 0.9984957050062633, + 0.021655390368018404, + -0.030649414707081768, + -0.03997479868827579 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.03998259311281566, + -0.1510880808749276, + 0.8046857298667531 + ], + "orientation": [ + 0.9988874930437259, + -0.0020962499766606453, + -0.009507748632192264, + 0.04614092210611607 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.3315699053686118, + -0.09958646122409454, + 0.7980563875237235 + ], + "orientation": [ + 0.9945311278632527, + 0.05059696022003607, + 0.0673424008040722, + -0.061747747987119614 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example52/input/input.png b/Spatial/insert_bloom_flower/example52/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..2bcb727ecedd0bf135c8ddcef10918c96f6e75f9 --- /dev/null +++ b/Spatial/insert_bloom_flower/example52/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a81ea728a8b8e7e41905836ee00b1b18a485b1766e9a0de5dd10df0eff0997e9 +size 815186 diff --git a/Spatial/insert_bloom_flower/example52/input/input_mask.png b/Spatial/insert_bloom_flower/example52/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..1dd4c8d6cc75bfd6046ea5882c6a7a8e0b735eb0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example52/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31a4ea2fd085d32e988a976ddd3907f2a07c56061ac81d4e492e55a06e95249a +size 701962 diff --git a/Spatial/insert_bloom_flower/example52/input/instruction.txt b/Spatial/insert_bloom_flower/example52/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example52/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example52/output/operation_sequence.json b/Spatial/insert_bloom_flower/example52/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example52/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example53/env_config/env_config.json b/Spatial/insert_bloom_flower/example53/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..32baf390e193d3d48ebe17fdd78128c1fb39c836 --- /dev/null +++ b/Spatial/insert_bloom_flower/example53/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.3083334569933606e-08, + 1.7497068070707653e-08, + -7.640742177502837e-07 + ], + "orientation": [ + 1.0, + -5.79042768752405e-09, + -4.770771431208818e-09, + -3.305362554677346e-10 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.1853700252390707, + 0.20691289703093343, + 0.78 + ], + "orientation": [ + 0.9989977856478736, + 0.0, + 0.0, + 0.04475962768662463 + ], + "class": "Vase" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.27192938410069173, + -0.15912671463463585, + 0.8084975276459933 + ], + "orientation": [ + 0.9972781754133465, + 0.040136390771862034, + -0.03628553735058587, + 0.05008663254017512 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.031173437076806424, + -0.13439102756220064, + 0.8073536289280376 + ], + "orientation": [ + 0.9987344917698001, + 0.03442121500113999, + 0.028926038086087603, + 0.02253617598011749 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.3159926598712343, + -0.12002714568208472, + 0.8010284027637541 + ], + "orientation": [ + 0.9972604968386595, + 2.0577471659380134e-16, + -4.030331904456208e-16, + 0.07396959811375377 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example53/input/input.png b/Spatial/insert_bloom_flower/example53/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..06dcfbfec9ebdaf266a62cc5fac4d83aa028fc1b --- /dev/null +++ b/Spatial/insert_bloom_flower/example53/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a74a09ea7a65da6881ea92496eb5c42e29fd3729ae8cb3fa03d8020f41dd1573 +size 851444 diff --git a/Spatial/insert_bloom_flower/example53/input/input_mask.png b/Spatial/insert_bloom_flower/example53/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..33f4005edd7402ac2b47262d9f3d447f7e98162b --- /dev/null +++ b/Spatial/insert_bloom_flower/example53/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1445b68d0502edd132b4d4d744dff4ee983fd5305793a722b8f1ceedb0d59eea +size 727591 diff --git a/Spatial/insert_bloom_flower/example53/input/instruction.txt b/Spatial/insert_bloom_flower/example53/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example53/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example53/output/operation_sequence.json b/Spatial/insert_bloom_flower/example53/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example53/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example54/env_config/env_config.json b/Spatial/insert_bloom_flower/example54/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..fee047e293289934d0ca60c529a3bb3785bdb87d --- /dev/null +++ b/Spatial/insert_bloom_flower/example54/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1132265819762356e-08, + 1.873376901939881e-08, + -7.640553816046659e-07 + ], + "orientation": [ + 1.0, + -6.546810181528858e-09, + -4.7510152896551235e-09, + -7.3454566397476e-10 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.24599190439009394, + 0.16988610377934407, + 0.78 + ], + "orientation": [ + 0.999216920302718, + 0.0, + 0.0, + -0.039566983467933275 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.26881896860578963, + -0.07542405281430772, + 0.9296832263918179 + ], + "orientation": [ + 0.8161147455854579, + -0.035333094666494855, + -0.5037591112902314, + 0.2809538258350437 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.021264084130582356, + -0.11908367531557486, + 0.8073536252452533 + ], + "orientation": [ + 0.9984979573174002, + 0.03592978569543207, + 0.027029379084768507, + -0.03130962151085048 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.2828154022803883, + -0.059870035202662014, + 0.8013398472669325 + ], + "orientation": [ + 0.9999543070744382, + 3.052655544832984e-17, + 2.918314992160079e-19, + 0.009559485513358286 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example54/input/input.png b/Spatial/insert_bloom_flower/example54/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..6cc506bd864b60cdbc8ec0af237f32857e37941c --- /dev/null +++ b/Spatial/insert_bloom_flower/example54/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1484b027b86cb6bbe39a361e03f4f31a1d4cdfb8d4c78415cf5e194a23f0151 +size 886011 diff --git a/Spatial/insert_bloom_flower/example54/input/input_mask.png b/Spatial/insert_bloom_flower/example54/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..6e94b93fde96e8777b0585fe49260cda15c1a178 --- /dev/null +++ b/Spatial/insert_bloom_flower/example54/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d584db5bdf20e628c6f4c24a09e3f4debc20628e857ac379030552fc9f05938 +size 762028 diff --git a/Spatial/insert_bloom_flower/example54/input/instruction.txt b/Spatial/insert_bloom_flower/example54/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example54/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example54/output/operation_sequence.json b/Spatial/insert_bloom_flower/example54/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example54/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example55/env_config/env_config.json b/Spatial/insert_bloom_flower/example55/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..95d1e5fbafec894aba8e3388973329a8a6b680a0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example55/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.5146996314003193e-07, + 2.963876076504886e-07, + -7.664209923882275e-07 + ], + "orientation": [ + 0.9999999999999987, + -8.239267097063677e-09, + -3.2114979667201186e-09, + -4.101724678211073e-08 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.05421504620228741, + 0.21062737406234666, + 0.78 + ], + "orientation": [ + 0.997115104637363, + 0.0, + 0.0, + 0.07590433521229703 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.31305000186272447, + 0.1273771033906173, + 0.7855614465749559 + ], + "orientation": [ + 0.9209040714882964, + -0.05880295406311993, + 0.29018571739261084, + 0.2535155875504812 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.21987955018182107, + 0.0349662414882015, + 0.8742230907022445 + ], + "orientation": [ + 0.8680652546745063, + -0.023667184071109026, + -0.12110124320083905, + -0.48087115417774806 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + 0.3115906741554817, + -0.052506359268160524, + 0.808426609052328 + ], + "orientation": [ + 0.9984952732751193, + 0.03803113323787073, + -0.039314585377579724, + -0.003896861362326034 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example55/input/input.png b/Spatial/insert_bloom_flower/example55/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0995de2db5992d5a508ea3284f812b29357f61c6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example55/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0671bfcf6e04f658f9590acd94603b61db5854e81bc58dae20a20c9c156e2bf9 +size 823435 diff --git a/Spatial/insert_bloom_flower/example55/input/input_mask.png b/Spatial/insert_bloom_flower/example55/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..d94bf456b1c54721295f7ce832f808421e9d64e2 --- /dev/null +++ b/Spatial/insert_bloom_flower/example55/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f17ebcdd457ee1bd6859e3b7d471647ce9e2de7bd067910676370b74bb8910d1 +size 708567 diff --git a/Spatial/insert_bloom_flower/example55/input/instruction.txt b/Spatial/insert_bloom_flower/example55/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example55/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example55/output/operation_sequence.json b/Spatial/insert_bloom_flower/example55/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example55/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example56/env_config/env_config.json b/Spatial/insert_bloom_flower/example56/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c74b5d6eabfd2f4d04b6ec3f4224baff9d4c2692 --- /dev/null +++ b/Spatial/insert_bloom_flower/example56/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.5626841386159874e-10, + 6.83062253441454e-09, + -7.686574745522357e-07 + ], + "orientation": [ + 1.0, + -4.7916138313534135e-09, + 4.7416633124667655e-09, + -1.7524576866753738e-09 + ], + "class": "Table", + "materials": [ + "wood4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.058885850205438905, + 0.2316421048992503, + 0.78 + ], + "orientation": [ + 0.9999995108745356, + 0.0, + 0.0, + -0.0009890655638526216 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.25876648988772133, + -0.060973400418363334, + 0.7980676204409876 + ], + "orientation": [ + 0.9963718276025892, + 0.04714175336652249, + 0.06981278078840523, + -0.012124845895774474 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.05518931908206979, + -0.06761532707318461, + 0.8150165853170248 + ], + "orientation": [ + 0.9925865352386994, + 0.07911655928710543, + -0.04035472738585491, + 0.08297009152109203 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.23346595813746404, + -0.06518124678174787, + 0.8046857212327564 + ], + "orientation": [ + 0.999404387236937, + -0.00222009591710543, + -0.009479643038293269, + 0.03310707346697878 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example56/input/input.png b/Spatial/insert_bloom_flower/example56/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..17f126a74b787be7af6bfd4ae40b36eaf1c02344 --- /dev/null +++ b/Spatial/insert_bloom_flower/example56/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b09de9ee378bdb4dca711aef95f6f001dde4c9943056a1f8ea268efddb0fcea +size 820677 diff --git a/Spatial/insert_bloom_flower/example56/input/input_mask.png b/Spatial/insert_bloom_flower/example56/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..400238471a732597000a7aab44a691c150754826 --- /dev/null +++ b/Spatial/insert_bloom_flower/example56/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c2ed6632e00e7554e29600bac17d5e8f9e805c27eea79315f146899e69aa1c6 +size 703274 diff --git a/Spatial/insert_bloom_flower/example56/input/instruction.txt b/Spatial/insert_bloom_flower/example56/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example56/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example56/output/operation_sequence.json b/Spatial/insert_bloom_flower/example56/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example56/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example57/env_config/env_config.json b/Spatial/insert_bloom_flower/example57/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c964c8f04a865de888f7e3de7bfc62ad5988c847 --- /dev/null +++ b/Spatial/insert_bloom_flower/example57/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.3341684347423683e-09, + 7.287180015349529e-09, + -7.685884394194818e-07 + ], + "orientation": [ + 1.0, + -4.05521119891459e-09, + -1.6331063385761928e-09, + 8.971327665326235e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.19256190716123361, + 0.15661704802151774, + 0.78 + ], + "orientation": [ + 0.9977570972520188, + 0.0, + 0.0, + 0.0669385903886956 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2970668950112219, + -0.10971608205702922, + 0.804685734699382 + ], + "orientation": [ + 0.9987422044145654, + -0.0020672480926135907, + -0.009514012369062085, + 0.049185558603103814 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.03237784254999394, + -0.09879613693999481, + 0.7980527007742317 + ], + "orientation": [ + 0.9932047256563613, + 0.05185334567949742, + 0.06634612842917227, + -0.08033551343070092 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.31538502756505954, + -0.10288742413539691, + 0.8013398472669324 + ], + "orientation": [ + 0.9989640991589659, + -2.6020751195365015e-17, + -7.010010258534657e-17, + -0.045505258943510644 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example57/input/input.png b/Spatial/insert_bloom_flower/example57/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..45d05b0bc68d8ec1a09be6b08bd98355e45a5302 --- /dev/null +++ b/Spatial/insert_bloom_flower/example57/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:970707767806be7610d534b9cd74b772866f7935e5893e4101cc465d00c9badb +size 809317 diff --git a/Spatial/insert_bloom_flower/example57/input/input_mask.png b/Spatial/insert_bloom_flower/example57/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..77b83d0829421eb9fe11503eceab635c94f4e37c --- /dev/null +++ b/Spatial/insert_bloom_flower/example57/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a7fcfd8b34b9abdfbdfd25b92505dc6b554e8f249374960386827fc647860f8 +size 696573 diff --git a/Spatial/insert_bloom_flower/example57/input/instruction.txt b/Spatial/insert_bloom_flower/example57/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example57/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example57/output/operation_sequence.json b/Spatial/insert_bloom_flower/example57/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example57/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example58/env_config/env_config.json b/Spatial/insert_bloom_flower/example58/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..172499fd7cc08d5bae5916a786f808c617889948 --- /dev/null +++ b/Spatial/insert_bloom_flower/example58/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.131742763263983e-09, + 8.271691793140789e-09, + -7.583338871721727e-07 + ], + "orientation": [ + 1.0, + -3.1450215936624896e-09, + -3.737223131362602e-09, + -1.519069260200335e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.12574672693913994, + 0.2203307366506989, + 0.78 + ], + "orientation": [ + 0.9998958543792645, + 0.0, + 0.0, + 0.0144319227811389 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.30969668318085436, + -0.13677904309715486, + 0.7980385702315989 + ], + "orientation": [ + 0.9954440011593481, + 0.04948719871683326, + 0.06799253579717178, + -0.0449363193296735 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_0/tulip_draft_0.xml", + "position": [ + -0.029347974531932816, + -0.08213561886602395, + 0.8086308704542637 + ], + "orientation": [ + 0.9956890498077304, + 0.04020078229062695, + -0.012947451770432005, + 0.08258072831390023 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.2637332121073212, + -0.10631868129087396, + 0.8010284027637542 + ], + "orientation": [ + 0.9997250628291421, + 7.784697892168477e-17, + -2.0701226269635517e-16, + -0.02344778776916857 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example58/input/input.png b/Spatial/insert_bloom_flower/example58/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..0811df0fd8cc665b337aea8f9f0263166d63b10d --- /dev/null +++ b/Spatial/insert_bloom_flower/example58/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79dca2dda14c31ffd8f7b9fb9107e2a4890930412a3858fc78545b2d4d72533d +size 835354 diff --git a/Spatial/insert_bloom_flower/example58/input/input_mask.png b/Spatial/insert_bloom_flower/example58/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f004d8e3f160e8fbdce77dd0678ed24baa596d4c --- /dev/null +++ b/Spatial/insert_bloom_flower/example58/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f535851c12ed055ccb00e40c325f691dec3920a7c0e13097d915ab01f337d229 +size 715272 diff --git a/Spatial/insert_bloom_flower/example58/input/instruction.txt b/Spatial/insert_bloom_flower/example58/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example58/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example58/output/operation_sequence.json b/Spatial/insert_bloom_flower/example58/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example58/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example59/env_config/env_config.json b/Spatial/insert_bloom_flower/example59/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..21cb70973c081a64442aca79de060ac1faf25c38 --- /dev/null +++ b/Spatial/insert_bloom_flower/example59/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.1645292220041794e-08, + 1.8664804263807047e-08, + -7.641404975492967e-07 + ], + "orientation": [ + 1.0, + -6.155289310759852e-09, + -3.6933251480580936e-10, + 3.2591943581441266e-09 + ], + "class": "Table", + "materials": [ + "stone2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.2870098241172693, + 0.1912585630422635, + 0.78 + ], + "orientation": [ + 0.9970442403605563, + 0.0, + 0.0, + 0.07682956959297185 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.24546274122121597, + -0.10958075430315256, + 0.8010284027637541 + ], + "orientation": [ + 0.9986906535605543, + 2.4912566136972686e-16, + -3.6833952956236016e-16, + 0.05115641202032174 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_2/chrysanthemum_2.xml", + "position": [ + -0.00636209280101088, + -0.13282157656398477, + 0.8150171923372023 + ], + "orientation": [ + 0.9944886556139295, + 0.07274291288194856, + -0.050947904340452536, + -0.055723366050198314 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.2567206403041359, + -0.1335067155201756, + 0.8073536347020347 + ], + "orientation": [ + 0.998922539501777, + 0.03538664309133867, + 0.02773655721528413, + -0.01149908517623532 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example59/input/input.png b/Spatial/insert_bloom_flower/example59/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..bdf5c17043dea02650eecb7d11561e946067171b --- /dev/null +++ b/Spatial/insert_bloom_flower/example59/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a020544d2c1348aa37ab12e83a5bcb8141f91e1e55843bb89cb80ec26ed57607 +size 841659 diff --git a/Spatial/insert_bloom_flower/example59/input/input_mask.png b/Spatial/insert_bloom_flower/example59/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..c8429b9fdb1dfe3813884fa3f7ae8d9f6cdb47ab --- /dev/null +++ b/Spatial/insert_bloom_flower/example59/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcbd5b687da03207865e52050c6dd06c5ca3820ba1eb3f5804eb136adb243241 +size 718699 diff --git a/Spatial/insert_bloom_flower/example59/input/instruction.txt b/Spatial/insert_bloom_flower/example59/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example59/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example59/output/operation_sequence.json b/Spatial/insert_bloom_flower/example59/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example59/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example6/env_config/env_config.json b/Spatial/insert_bloom_flower/example6/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..476bf47e714610df22da1aa5090a3c2d17cd12b1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example6/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.1147443142947132e-10, + 3.395636973295624e-10, + -7.541497555315334e-07 + ], + "orientation": [ + 1.0, + -1.6906488084580118e-10, + 2.705702459118465e-10, + 9.006730938396743e-11 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.1755163406621804, + 0.2328496212377107, + 0.78 + ], + "orientation": [ + 0.9992556289561845, + 0.0, + 0.0, + 0.0385770397954558 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2708106668310166, + -0.08291761079196312, + 1.0036431730960356 + ], + "orientation": [ + 0.9739226093733381, + -0.18796843966286828, + -0.12016964333371252, + -0.04125376907852366 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.013562770953164407, + -0.11751847985344097, + 0.8010284027637541 + ], + "orientation": [ + 0.9993360770511464, + 1.347721093797821e-16, + -1.436900743274658e-16, + -0.03643357111271529 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + 0.2976905117160469, + -0.1612490504164013, + 0.8045514066927173 + ], + "orientation": [ + 0.9988458530814369, + 0.023746880135392688, + -0.029059403153030874, + 0.029976633470754563 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example6/input/input.png b/Spatial/insert_bloom_flower/example6/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3eead0c0d391bdd4f641c6fefb05e8e5e48e4cba --- /dev/null +++ b/Spatial/insert_bloom_flower/example6/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f31bfb00fb8ba0c5224fb9a991f10769985202d9d57460491e6126ec04420a31 +size 819954 diff --git a/Spatial/insert_bloom_flower/example6/input/input_mask.png b/Spatial/insert_bloom_flower/example6/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..785579e3d022d284fd746998b28546bed18f413a --- /dev/null +++ b/Spatial/insert_bloom_flower/example6/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30b813c43cad26422538f68d1a5ff2c4f47fae4f92cf1f5d3b2f3b2ca4d32681 +size 708006 diff --git a/Spatial/insert_bloom_flower/example6/input/instruction.txt b/Spatial/insert_bloom_flower/example6/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example6/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example6/output/operation_sequence.json b/Spatial/insert_bloom_flower/example6/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example6/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example60/env_config/env_config.json b/Spatial/insert_bloom_flower/example60/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..4b0345037ec3aa5c267f178ac4d1da43700e83e0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example60/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 2.327556222034788e-09, + 9.428202159301203e-09, + -7.685447955431058e-07 + ], + "orientation": [ + 1.0, + -4.2590484953780605e-09, + 6.994685959145846e-10, + 3.3330896628097537e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.028681809968346603, + 0.2332160371398161, + 0.78 + ], + "orientation": [ + 0.9999382871204675, + 0.0, + 0.0, + -0.011109543221283902 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.30762113402869373, + -0.11635270049540142, + 0.8046857364711947 + ], + "orientation": [ + 0.999855121610825, + -0.0024012114549752093, + -0.00943526104617587, + 0.013962299994673326 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.003384744358587238, + -0.0830360782817344, + 0.8010284027637542 + ], + "orientation": [ + 0.9993016308758993, + -3.2729674347823515e-17, + 8.010558944784895e-17, + -0.03736643585850793 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + 0.3420031274729543, + -0.120695448359676, + 0.8052661637592369 + ], + "orientation": [ + 0.993553817260501, + 0.07103597549900194, + 0.053430697447022946, + -0.07035526250621167 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example60/input/input.png b/Spatial/insert_bloom_flower/example60/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..c86b133db6659d2876e6071965f3a10186632968 --- /dev/null +++ b/Spatial/insert_bloom_flower/example60/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3c27091a537c0025263efdcd3cf9bb8c358724d5bbde61f7b770df9efabf16d +size 870106 diff --git a/Spatial/insert_bloom_flower/example60/input/input_mask.png b/Spatial/insert_bloom_flower/example60/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..07a3c9ad83e1e562ff5e16f6839a68b23c062812 --- /dev/null +++ b/Spatial/insert_bloom_flower/example60/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49b574d109cff549499b0aec29054ca9286c7183ec714fbad710aad36d97a4a8 +size 754458 diff --git a/Spatial/insert_bloom_flower/example60/input/instruction.txt b/Spatial/insert_bloom_flower/example60/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example60/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example60/output/operation_sequence.json b/Spatial/insert_bloom_flower/example60/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example60/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example61/env_config/env_config.json b/Spatial/insert_bloom_flower/example61/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff7adc11131c52ebc1482e08f63e572d51e48db --- /dev/null +++ b/Spatial/insert_bloom_flower/example61/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -0.028616373390319184, + 0.021951112499711017, + -9.00052799225645e-05 + ], + "orientation": [ + 0.9993687449626873, + -2.4682464623776294e-06, + 6.868980160263423e-07, + 0.03552620983358311 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.25515118474157694, + 0.2289684246102919, + 0.78 + ], + "orientation": [ + 0.9976915552149406, + 0.0, + 0.0, + 0.06790847261419732 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.4757414247347344, + -0.007253242966358754, + 0.8351684938729609 + ], + "orientation": [ + 0.8816893577845399, + 0.2851045943667019, + 0.33168537113807117, + -0.17698604807578547 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.013512746755598307, + -0.1439026093018344, + 0.8044146277984644 + ], + "orientation": [ + 0.997461736690151, + -0.0016698037766492346, + -0.008792393315154698, + 0.0706398571219312 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + 0.25431477843036676, + -0.05195864604994444, + 0.8052864089686619 + ], + "orientation": [ + 0.9933181500867095, + 0.06547691841896901, + 0.09378768103731953, + 0.015352418321417005 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example61/input/input.png b/Spatial/insert_bloom_flower/example61/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..ed4c2d25cfe4b08afdbffede1b72c0310bb6f58a --- /dev/null +++ b/Spatial/insert_bloom_flower/example61/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:875dd2c0f7babc2c355966e6ac954ad29755801610b167d4392ac8394e780cf7 +size 882767 diff --git a/Spatial/insert_bloom_flower/example61/input/input_mask.png b/Spatial/insert_bloom_flower/example61/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..a8dfb87a4816df0f68b14743f2147ca3068d2499 --- /dev/null +++ b/Spatial/insert_bloom_flower/example61/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b60b1d48e063212ccc96d94ad968b76ae14dc2621c31e9116047ce62131ef21 +size 758509 diff --git a/Spatial/insert_bloom_flower/example61/input/instruction.txt b/Spatial/insert_bloom_flower/example61/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example61/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example61/output/operation_sequence.json b/Spatial/insert_bloom_flower/example61/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example61/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example62/env_config/env_config.json b/Spatial/insert_bloom_flower/example62/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..601c96d0788d3086937a2985ca0c0ab273d60685 --- /dev/null +++ b/Spatial/insert_bloom_flower/example62/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 1.1538946717686524e-08, + -3.925097015301653e-09, + -7.740753081317865e-07 + ], + "orientation": [ + 1.0, + 2.852374351950214e-10, + 4.208185394107924e-09, + -1.922297322265391e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + -0.1077141240941056, + 0.23329087652968727, + 0.78 + ], + "orientation": [ + 0.9989680995933464, + 0.0, + 0.0, + 0.04541735345501645 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.3216205015961186, + -0.12825499082145658, + 0.8046857226204778 + ], + "orientation": [ + 0.9996663982410173, + -0.002756919371105478, + -0.009337641634071674, + -0.02392279398663654 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + 0.003613774178754885, + -0.10775694642622481, + 0.8046857191645616 + ], + "orientation": [ + 0.9996409780193849, + -0.0027666267496490524, + -0.009334761062047725, + -0.024962433310685296 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + 0.3391203877394124, + -0.08536853729981524, + 0.8045514311700298 + ], + "orientation": [ + 0.9968130485295938, + 0.020710970389721903, + -0.03129535211249482, + -0.07039462282595936 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example62/input/input.png b/Spatial/insert_bloom_flower/example62/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..3324ab5cc0f8c15584df0632ee45c74b2e61a509 --- /dev/null +++ b/Spatial/insert_bloom_flower/example62/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d1af37b309c10ee74acc75fe52441233a26f0c26fea61adaee48afe7f5877d +size 808403 diff --git a/Spatial/insert_bloom_flower/example62/input/input_mask.png b/Spatial/insert_bloom_flower/example62/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..40bfd4056926a38e3dea675f8ad72dce7f82e0c2 --- /dev/null +++ b/Spatial/insert_bloom_flower/example62/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f6749f3e34a91428612567bebf2f5cdf7e81a2aa9230afa9d6e8d97c33189f7 +size 696291 diff --git a/Spatial/insert_bloom_flower/example62/input/instruction.txt b/Spatial/insert_bloom_flower/example62/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example62/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example62/output/operation_sequence.json b/Spatial/insert_bloom_flower/example62/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example62/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example63/env_config/env_config.json b/Spatial/insert_bloom_flower/example63/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..39855da379c1f0a908ef8c0e00ee27c0bfabd4b8 --- /dev/null +++ b/Spatial/insert_bloom_flower/example63/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.0862597506709507e-08, + 1.890780007088305e-08, + -7.628163556515757e-07 + ], + "orientation": [ + 1.0, + -7.390278702357615e-09, + -3.467369684104857e-09, + -3.211963169207678e-10 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.12014435036933797, + 0.23920644269541583, + 0.78 + ], + "orientation": [ + 0.9992990289968516, + 0.0, + 0.0, + -0.03743595392065686 + ], + "class": "Vase" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_1/chrysanthemum_1.xml", + "position": [ + -0.31973350256702276, + -0.1127319154373912, + 0.805410888970372 + ], + "orientation": [ + 0.992511309941423, + 0.06912520378506669, + 0.10058316493909657, + -0.005102231949663358 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.05219857665888471, + -0.12670433520304836, + 0.8010284027637542 + ], + "orientation": [ + 0.9982923838933353, + 3.230831624142642e-17, + -5.5481362591928894e-17, + -0.058415034542160384 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.3449440227159394, + -0.11228543180100752, + 0.7980583298442964 + ], + "orientation": [ + 0.9959685766931429, + 0.04412513459081035, + 0.07177820913331391, + 0.030780763973505484 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example63/input/input.png b/Spatial/insert_bloom_flower/example63/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7045c38996e8a821c802550ee236b94d46e6dbcc --- /dev/null +++ b/Spatial/insert_bloom_flower/example63/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e59bf1692becb2bfbdc63fc9864379a201d5431aadbccce0578d5fd6f72943c +size 826013 diff --git a/Spatial/insert_bloom_flower/example63/input/input_mask.png b/Spatial/insert_bloom_flower/example63/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..f1c752981c7e4cb7819ffd1d9a95182c00d224f9 --- /dev/null +++ b/Spatial/insert_bloom_flower/example63/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a60a34cf93d410bff05145179d0d7784d98a335898c084c32819e375e4d5441 +size 712597 diff --git a/Spatial/insert_bloom_flower/example63/input/instruction.txt b/Spatial/insert_bloom_flower/example63/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example63/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example63/output/operation_sequence.json b/Spatial/insert_bloom_flower/example63/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example63/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example64/env_config/env_config.json b/Spatial/insert_bloom_flower/example64/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..a3490bd2d9fba50f2f25b2a831ce53402fb6a745 --- /dev/null +++ b/Spatial/insert_bloom_flower/example64/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -4.8303481297114105e-09, + 8.52556975630912e-09, + -7.58616474975139e-07 + ], + "orientation": [ + 1.0, + -3.6274823367026013e-09, + -3.1542383064677194e-09, + -1.0185100601954453e-09 + ], + "class": "Table", + "materials": [ + "wood2" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + 0.28354586461224685, + 0.19391064378704997, + 0.78 + ], + "orientation": [ + 0.9991239768764069, + 0.0, + 0.0, + 0.041848283485386814 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.27764918190508725, + -0.08954712612446591, + 0.798056525350675 + ], + "orientation": [ + 0.9953037131903718, + 0.04964455502217218, + 0.06801285570205186, + -0.04775131543067854 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.006414259486896672, + -0.08514634224464215, + 0.8010284027637541 + ], + "orientation": [ + 0.9971103522118697, + 4.737102338846266e-17, + -6.560652360220694e-17, + -0.07596673951092807 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_1/rose _1.xml", + "position": [ + 0.31303014359220804, + -0.12731632964067593, + 0.804551441343106 + ], + "orientation": [ + 0.9974420849551255, + 0.021010089338634713, + -0.031095304979740786, + -0.06083539524463788 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example64/input/input.png b/Spatial/insert_bloom_flower/example64/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..7e1928354870bdd76f8a8c66e72b6e7f469e5745 --- /dev/null +++ b/Spatial/insert_bloom_flower/example64/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97439d2df7dde15246b561a4b92ba695dd32a019ab1445bb8dec4604ffa0257a +size 859455 diff --git a/Spatial/insert_bloom_flower/example64/input/input_mask.png b/Spatial/insert_bloom_flower/example64/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..2d281b48a4b913622b2dac98efbb08104edc94d6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example64/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4407eabc3b6ea84a62541d3be3b1c2971558c1254969c42cbb4f8f8e04980fcf +size 746610 diff --git a/Spatial/insert_bloom_flower/example64/input/instruction.txt b/Spatial/insert_bloom_flower/example64/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example64/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example64/output/operation_sequence.json b/Spatial/insert_bloom_flower/example64/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example64/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example65/env_config/env_config.json b/Spatial/insert_bloom_flower/example65/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..8bbe9a87f5f0fb1ae2d59e27cc51332af81518e5 --- /dev/null +++ b/Spatial/insert_bloom_flower/example65/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -7.828896487354735e-09, + 3.7876862351225915e-08, + -7.670382949798646e-07 + ], + "orientation": [ + 1.0, + -8.825012254359046e-09, + -8.942443862817236e-09, + -3.946607345393105e-09 + ], + "class": "Table", + "materials": [ + "stone0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.157680199191755, + 0.250129531900827, + 0.78 + ], + "orientation": [ + 0.999917591970663, + 0.0, + 0.0, + 0.012837806182942826 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.31185034051264743, + -0.10213667169402081, + 0.807353602343609 + ], + "orientation": [ + 0.9985544994404988, + 0.03587938837570633, + 0.027096349214370343, + -0.029451128945640486 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_4/chrysanthemum_4/chrysanthemum_4.xml", + "position": [ + 0.04319834946812607, + -0.15550337085255636, + 0.8135998280374135 + ], + "orientation": [ + 0.9941860298203514, + 0.09618711547476395, + -0.016259647592455347, + -0.0455829001585197 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.2722231060626989, + -0.12901577296691133, + 0.8010284027637542 + ], + "orientation": [ + 0.9993453578926793, + 1.9596635864558454e-16, + -4.637685371805541e-16, + 0.03617811020980509 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example65/input/input.png b/Spatial/insert_bloom_flower/example65/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..a24c722a2e10f3618462dbf8dd018a35711fbffc --- /dev/null +++ b/Spatial/insert_bloom_flower/example65/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60e45671daef90e9e3d0e4c6fefafea94b51d3ff2c682d786bf526c6528faa44 +size 847616 diff --git a/Spatial/insert_bloom_flower/example65/input/input_mask.png b/Spatial/insert_bloom_flower/example65/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..e059b829b418306ecfce148463d3fee19891ebe7 --- /dev/null +++ b/Spatial/insert_bloom_flower/example65/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f13f418d4da6c1e46b9a5b096c2632e8de291bd023465dc7ce3964b8c9237297 +size 724437 diff --git a/Spatial/insert_bloom_flower/example65/input/instruction.txt b/Spatial/insert_bloom_flower/example65/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example65/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example65/output/operation_sequence.json b/Spatial/insert_bloom_flower/example65/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example65/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example66/env_config/env_config.json b/Spatial/insert_bloom_flower/example66/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..685eb23cfc2f7b5baf00e94f0db9fb014fbe0cf0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example66/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -1.2999192635662699e-08, + 2.538815538466093e-08, + -7.686525366811639e-07 + ], + "orientation": [ + 1.0, + -7.91533093887726e-09, + -1.0987636504194403e-08, + -5.620173601572137e-09 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.08849563031203864, + 0.15912024061059638, + 0.78 + ], + "orientation": [ + 0.9990843965788027, + 0.0, + 0.0, + -0.042782806275064734 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.33004725614344665, + -0.1522350272269822, + 0.807353583980808 + ], + "orientation": [ + 0.997205535776815, + 0.033321693480319964, + 0.030186257068328445, + 0.05966216593356539 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.05440452711238481, + -0.14147710693552928, + 0.7937127414858427 + ], + "orientation": [ + 0.9759265511719885, + 0.034676185234337555, + -0.19269998750508496, + -0.09608144311303345 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_3/chrysanthemum_3/chrysanthemum_3.xml", + "position": [ + 0.2661715146708601, + -0.12497550941936575, + 0.8223950732366804 + ], + "orientation": [ + 0.9933101798300028, + 0.08161986648722117, + 0.0385825739137322, + 0.07200325708527015 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 0.0, + 1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example66/input/input.png b/Spatial/insert_bloom_flower/example66/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..fb99ede845a9894f11d7994a7f8abbbaec66c0f4 --- /dev/null +++ b/Spatial/insert_bloom_flower/example66/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:655360b23e49ae013f643acc9291474cb23c46c4621fe8c9c63ecb3361864c6f +size 850423 diff --git a/Spatial/insert_bloom_flower/example66/input/input_mask.png b/Spatial/insert_bloom_flower/example66/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..118cb26c8cf69bc64fdbdc6a233e07cefd22467d --- /dev/null +++ b/Spatial/insert_bloom_flower/example66/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a876125a860b48d6aa203d0a8576416a4cbd697c52c76fbba7b5e6b926968806 +size 724356 diff --git a/Spatial/insert_bloom_flower/example66/input/instruction.txt b/Spatial/insert_bloom_flower/example66/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example66/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example66/output/operation_sequence.json b/Spatial/insert_bloom_flower/example66/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example66/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example67/env_config/env_config.json b/Spatial/insert_bloom_flower/example67/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..c918e25ca44c1960c48939930882d98114f47c29 --- /dev/null +++ b/Spatial/insert_bloom_flower/example67/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.499915602769986e-08, + 3.944694497530943e-08, + -7.785295000766728e-07 + ], + "orientation": [ + 1.0, + -1.5021774434777844e-08, + -7.509920201409486e-09, + 3.4068928273369073e-09 + ], + "class": "Table", + "materials": [ + "stone3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.04588539369926612, + 0.18014468976913856, + 0.78 + ], + "orientation": [ + 0.9986117493168293, + 0.0, + 0.0, + -0.05267422639566981 + ], + "class": "Vase" + }, + { + "name": "rose", + "xml_path": "obj/meshes/flowers/bloom_flower/rose/rose_2/rose.xml", + "position": [ + -0.23660954738129217, + -0.0812607054655795, + 0.8048813396050053 + ], + "orientation": [ + 0.9982359933850318, + 0.011887254569534817, + 0.013556137457862676, + -0.056567002984263294 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.021572484651254584, + -0.12411708998538871, + 0.8073535222455007 + ], + "orientation": [ + 0.9968712068217661, + 0.03682223132410696, + 0.02580083952380513, + -0.06500951445670074 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + 0.2974465173341271, + -0.07563016085019213, + 0.8073535142866577 + ], + "orientation": [ + 0.9985493602377749, + 0.03421532227984691, + 0.02916967019918863, + 0.02962460515326276 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the rose into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "rose" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example67/input/input.png b/Spatial/insert_bloom_flower/example67/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..52e5807529be45fe0ab14002a83520712f511c5d --- /dev/null +++ b/Spatial/insert_bloom_flower/example67/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae050ac1d0ff163926c85693437890e76112771c5fada300709f3d5beb973220 +size 888549 diff --git a/Spatial/insert_bloom_flower/example67/input/input_mask.png b/Spatial/insert_bloom_flower/example67/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..bcfba2210ec4c77c66bfb58e55873b7fc423fc5e --- /dev/null +++ b/Spatial/insert_bloom_flower/example67/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd4074cacf4c2f166b9853cdfc4b28bae520d049165fea1e3c466ac6a0b6b54a +size 761530 diff --git a/Spatial/insert_bloom_flower/example67/input/instruction.txt b/Spatial/insert_bloom_flower/example67/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..10c4369b582b89965eb62e7c15f2f96eed09476c --- /dev/null +++ b/Spatial/insert_bloom_flower/example67/input/instruction.txt @@ -0,0 +1 @@ +Insert the rose into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example67/output/operation_sequence.json b/Spatial/insert_bloom_flower/example67/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..521200bea2a4c90f5c1ad5a41caf3292491310db --- /dev/null +++ b/Spatial/insert_bloom_flower/example67/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 2 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example68/env_config/env_config.json b/Spatial/insert_bloom_flower/example68/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..5095a7a5a8c772ee70606d575a30f45a8f2c2e53 --- /dev/null +++ b/Spatial/insert_bloom_flower/example68/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -3.8189495795177795e-11, + 7.1079890941851284e-09, + -7.687098480089265e-07 + ], + "orientation": [ + 1.0, + -4.2879051002767e-09, + -6.601444460259129e-10, + 2.1446141023763437e-09 + ], + "class": "Table", + "materials": [ + "wood3" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_1/vase.xml", + "position": [ + 0.003724123933756672, + 0.17421569845969576, + 0.78 + ], + "orientation": [ + 0.99999620770703, + 0.0, + 0.0, + -0.0027540100868592736 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.2891187828277845, + -0.10279428482242046, + 0.8046857346376662 + ], + "orientation": [ + 0.9974831120047624, + -0.0018661871807710841, + -0.00955548422828076, + 0.07023283656427509 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_0/chrysanthemum_0.xml", + "position": [ + -0.04840483992712207, + -0.10155517527263676, + 0.8142580383217949 + ], + "orientation": [ + 0.9974742238067595, + 0.06853672250136603, + 0.018128141963012077, + 0.0043887331703635155 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.2555234792251001, + -0.08264752912735472, + 0.7980579820970273 + ], + "orientation": [ + 0.9964443278329955, + 0.04622065420790466, + 0.07042907751088791, + 0.0014483421588378496 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example68/input/input.png b/Spatial/insert_bloom_flower/example68/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..f1539d1fbc3ce06023a422bad997018f977f3a88 --- /dev/null +++ b/Spatial/insert_bloom_flower/example68/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ab1b7377b2b0d46a25b98c200dec84019cc7cf0c855a8db095dd00da2712883 +size 870887 diff --git a/Spatial/insert_bloom_flower/example68/input/input_mask.png b/Spatial/insert_bloom_flower/example68/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..4f1c0816011d0e456ed55f1a91656e2ccce449f2 --- /dev/null +++ b/Spatial/insert_bloom_flower/example68/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:571e8a84cf3a15f9338da1c1a4890f2057099f61f4ad31f8244b3bcba50f6980 +size 749015 diff --git a/Spatial/insert_bloom_flower/example68/input/instruction.txt b/Spatial/insert_bloom_flower/example68/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example68/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example68/output/operation_sequence.json b/Spatial/insert_bloom_flower/example68/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example68/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example69/env_config/env_config.json b/Spatial/insert_bloom_flower/example69/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..dee7d9a0b85adb6f283be3b815a5e8847ce656bb --- /dev/null +++ b/Spatial/insert_bloom_flower/example69/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.000263254047726e-18, + 1.24380388914184e-16, + -7.538417574191189e-07 + ], + "orientation": [ + 1.0, + 1.950240849459221e-17, + -1.2142037225862527e-18, + -3.523263557887684e-18 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.07750587843614583, + 0.20795396192275628, + 0.78 + ], + "orientation": [ + 0.9999386808275401, + 0.0, + 0.0, + 0.011074050066655522 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + -0.2675748669840632, + -0.10596336486579042, + 0.8010284027637541 + ], + "orientation": [ + 0.9970680344213599, + 1.1905428440549196e-16, + -1.2295390351646283e-16, + -0.0765201590113733 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.8136013727990972, + -0.42005172001200564, + 1.606090504303374 + ], + "orientation": [ + 0.6909961810356743, + -0.11210054455615985, + -0.5407644628541339, + 0.46640276737858866 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.3399173377200485, + -0.11672785783232448, + 0.8013398472669324 + ], + "orientation": [ + 0.9999999949259191, + 9.710742799187319e-18, + -2.6867631631281652e-17, + 0.0001007380858724652 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example69/input/input.png b/Spatial/insert_bloom_flower/example69/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..328bec4a5562e8f2b2d47e3a0522de599b16b16b --- /dev/null +++ b/Spatial/insert_bloom_flower/example69/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93b693545fcd4ab996d0537736909b7a51f12e001c4d1d6aca9d1b8c4a3cb6f0 +size 796231 diff --git a/Spatial/insert_bloom_flower/example69/input/input_mask.png b/Spatial/insert_bloom_flower/example69/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..635226629765e4ac9eaf11876460b7ff4d9d5093 --- /dev/null +++ b/Spatial/insert_bloom_flower/example69/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163ca04a52a90ca7cf25014fced9948bed672b79767bf0b9831628986eee6436 +size 701274 diff --git a/Spatial/insert_bloom_flower/example69/input/instruction.txt b/Spatial/insert_bloom_flower/example69/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..96c4c2236f0d045bf739a7fe81e4c31eb9d87bcf --- /dev/null +++ b/Spatial/insert_bloom_flower/example69/input/instruction.txt @@ -0,0 +1 @@ +Insert the tulip into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example69/output/operation_sequence.json b/Spatial/insert_bloom_flower/example69/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example69/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example7/env_config/env_config.json b/Spatial/insert_bloom_flower/example7/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..67d7b7aae242285d0b180c5f22f5a0c2e54a48c4 --- /dev/null +++ b/Spatial/insert_bloom_flower/example7/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -5.0063191916122954e-09, + 8.278739977849525e-09, + -7.583149191591685e-07 + ], + "orientation": [ + 1.0, + -3.1752431505777994e-09, + -3.518010046946975e-09, + -1.359453179263645e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.1248373678607977, + 0.18987594606709038, + 0.78 + ], + "orientation": [ + 0.9986703733344695, + 0.0, + 0.0, + -0.05155080430014055 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + -0.28870860713008606, + -0.1320342937615841, + 0.7980387848597951 + ], + "orientation": [ + 0.9950721294722947, + 0.0500039291080912, + 0.06761626630493918, + -0.05252718107995027 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.010851806588363537, + -0.08978398791593796, + 0.8010284027637542 + ], + "orientation": [ + 0.9981230817846961, + 4.5523173475138193e-17, + -9.10952654231647e-18, + -0.061239804119714386 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "tulip", + "xml_path": "obj/meshes/flowers/bloom_flower/tulip/tulip_draft_1/tulip_draft_1.xml", + "position": [ + 0.33480156370117037, + -0.08545332846808032, + 0.8013398472669325 + ], + "orientation": [ + 0.998829242016408, + 3.7611699340951936e-17, + 6.922535056794476e-18, + 0.04837504824729246 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the tulip into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "tulip" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example7/input/input.png b/Spatial/insert_bloom_flower/example7/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..b91db9183b944c4f9f985d30c1000b2d6181ce52 --- /dev/null +++ b/Spatial/insert_bloom_flower/example7/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b37063e22c716289cea45a661a7adee391f6cf7590586523160ea1ca11b041b +size 817368 diff --git a/Spatial/insert_bloom_flower/example7/input/input_mask.png b/Spatial/insert_bloom_flower/example7/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..037c7ff565e3c52a75bb7a41ce15f8cf6282d5b1 --- /dev/null +++ b/Spatial/insert_bloom_flower/example7/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67154530858fdd24011ab566c94619c381385be4abd9ab797114e242de662ca5 +size 706123 diff --git a/Spatial/insert_bloom_flower/example7/input/instruction.txt b/Spatial/insert_bloom_flower/example7/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..41f4db9031d1e54555b0cff758dcbbeaaac41723 --- /dev/null +++ b/Spatial/insert_bloom_flower/example7/input/instruction.txt @@ -0,0 +1 @@ +Please Insert the proper flower into the container. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example7/output/operation_sequence.json b/Spatial/insert_bloom_flower/example7/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..98fe2f4f990adae5f353baddda47c29fa0df566d --- /dev/null +++ b/Spatial/insert_bloom_flower/example7/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 4 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example70/env_config/env_config.json b/Spatial/insert_bloom_flower/example70/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..269ff369f8be0a5988667eab02fac24bd9fe1fc0 --- /dev/null +++ b/Spatial/insert_bloom_flower/example70/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + 5.390338270436691e-09, + -2.0064731770277698e-09, + -7.642352950608214e-07 + ], + "orientation": [ + 1.0, + 1.2376140162032936e-10, + -7.444140669029557e-10, + 1.3572583345104884e-10 + ], + "class": "Table", + "materials": [ + "stone4" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_2/vase.xml", + "position": [ + -0.021575796209523556, + 0.18955054620100653, + 0.78 + ], + "orientation": [ + 0.9990910804349954, + 0.0, + 0.0, + 0.042626435403791796 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_0/wiltered_flower.xml", + "position": [ + -0.3225263959114137, + -0.09616779401550574, + 0.8046857402661693 + ], + "orientation": [ + 0.9982119309820978, + -0.0030827636945209317, + -0.009235085121922804, + -0.05897584773266422 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_3/chrysanthemum_3/chrysanthemum_3.xml", + "position": [ + -0.02182550874453766, + -0.061289846237949745, + 0.822394538002814 + ], + "orientation": [ + 0.9938464771282514, + 0.08612513392145242, + 0.027115297854485357, + -0.06415919130597675 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_1/wiltered_flower.xml", + "position": [ + 0.3126881104783698, + -0.12151291616330955, + 0.8010284027637541 + ], + "orientation": [ + 0.9986048149931419, + 5.025190015978666e-17, + -5.741984956694763e-17, + -0.05280552501881792 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + 1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example70/input/input.png b/Spatial/insert_bloom_flower/example70/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..09107dc385ce45faaa87724d0ca1e650b8b0ec7a --- /dev/null +++ b/Spatial/insert_bloom_flower/example70/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c5a17e56db2ffbe52ce823774c37a446ac5442e14a459a7bc88938af5cc11e9 +size 870820 diff --git a/Spatial/insert_bloom_flower/example70/input/input_mask.png b/Spatial/insert_bloom_flower/example70/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b37196d4a78dbcbd5c23a29b5800ec981f148032 --- /dev/null +++ b/Spatial/insert_bloom_flower/example70/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:121bd2d38207677d6feda662965e87fde95379bb5a4ddae65a04ced754c39283 +size 750664 diff --git a/Spatial/insert_bloom_flower/example70/input/instruction.txt b/Spatial/insert_bloom_flower/example70/input/instruction.txt new file mode 100644 index 0000000000000000000000000000000000000000..e48765adfd5fea84ccdaaa23a75b05b11575bfbc --- /dev/null +++ b/Spatial/insert_bloom_flower/example70/input/instruction.txt @@ -0,0 +1 @@ +Insert the chrysanthemum into the vase_seen. \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example70/output/operation_sequence.json b/Spatial/insert_bloom_flower/example70/output/operation_sequence.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa2b7866aae52d926995c19879e85437894ca6 --- /dev/null +++ b/Spatial/insert_bloom_flower/example70/output/operation_sequence.json @@ -0,0 +1,16 @@ +{ + "skill_sequence": [ + { + "name": "pick", + "params": { + "target_entity_name": 3 + } + }, + { + "name": "insert", + "params": { + "target_container_name": 1 + } + } + ] +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example71/env_config/env_config.json b/Spatial/insert_bloom_flower/example71/env_config/env_config.json new file mode 100644 index 0000000000000000000000000000000000000000..d65496c944fff4ef04927693281b26bbf625f9fe --- /dev/null +++ b/Spatial/insert_bloom_flower/example71/env_config/env_config.json @@ -0,0 +1,115 @@ +{ + "task": { + "components": [ + { + "name": "table", + "xml_path": "obj/meshes/table/table.xml", + "position": [ + -2.040124543706538e-08, + 2.450528620878048e-08, + -7.686382446745976e-07 + ], + "orientation": [ + 1.0, + -8.619894316503322e-09, + -1.0266947205974314e-08, + -2.0897134568683495e-09 + ], + "class": "Table", + "materials": [ + "wood0" + ] + }, + { + "name": "vase_seen", + "xml_path": "obj/meshes/containers/vases/vase_0/vase.xml", + "position": [ + -0.02128748863678933, + 0.18625991812776643, + 0.78 + ], + "orientation": [ + 0.9999689438905442, + 0.0, + 0.0, + -0.00788106937094061 + ], + "class": "Vase" + }, + { + "name": "wilted_flower", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_2/wiltered_flower.xml", + "position": [ + -0.27353689737516496, + -0.11774167714580352, + 0.807353565787424 + ], + "orientation": [ + 0.9970549055744898, + 0.0332469860595334, + 0.030268593903994098, + 0.06212861990159942 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "chrysanthemum", + "xml_path": "obj/meshes/flowers/bloom_flower/chrysanthemum/chrysanthemum_3/chrysanthemum_3/chrysanthemum_3.xml", + "position": [ + -0.0001612605672181892, + -0.1531341264088593, + 0.8223954073130956 + ], + "orientation": [ + 0.993846946903693, + 0.0861229699100717, + 0.027112169648048506, + -0.06415614110163069 + ], + "class": "CommonGraspedEntity" + }, + { + "name": "wilted_flower_1", + "xml_path": "obj/meshes/flowers/wilted_flower/wilted_flower_3/wiltered_flower.xml", + "position": [ + 0.2845844170973744, + -0.13472853506845506, + 0.7980578448497255 + ], + "orientation": [ + 0.9964446236446212, + 0.046209856111834646, + 0.07042844155626576, + 0.001611157288350663 + ], + "class": "CommonGraspedEntity" + } + ], + "scene": { + "name": "bedroom_0", + "position": [ + -1.8, + -1.0, + 0.0 + ], + "orientation": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "floor_textures": [ + "default_floor" + ] + }, + "instructions": "Insert the chrysanthemum into the vase_seen.", + "conditions": { + "contain": { + "container": "vase_seen", + "entities": [ + "chrysanthemum" + ] + } + } + } +} \ No newline at end of file diff --git a/Spatial/insert_bloom_flower/example71/input/input.png b/Spatial/insert_bloom_flower/example71/input/input.png new file mode 100644 index 0000000000000000000000000000000000000000..cbaf404c2fb47013a7273d4ac847c3cf96f821f4 --- /dev/null +++ b/Spatial/insert_bloom_flower/example71/input/input.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f6a44f4fcb9a9b635f8c8e0ed2add49516d5665fe6a6f82ca30c45f5243e650 +size 847230 diff --git a/Spatial/insert_bloom_flower/example71/input/input_mask.png b/Spatial/insert_bloom_flower/example71/input/input_mask.png new file mode 100644 index 0000000000000000000000000000000000000000..b0890bc2b45d47e44fcfb6d58597892eec99b1cd --- /dev/null +++ b/Spatial/insert_bloom_flower/example71/input/input_mask.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dc96a863ffb0bae004160c4caba34c237723fba9ac1983b2aa16b975276c60d +size 721291