Generating correct target position and visualizing it.

Assets/DLU/Resources/Target.mat

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Assets/DLU/Resources/Target.mat.meta

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Assets/DLU/Resources/instruction.json

 [
   {
-    "name": "actor_0",
+    "components": {},
+    "name": "?task_0",
     "is_a": [
-      "http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalAgent"
+      "http://www.ease-crc.org/ont/EASE-ACT.owl#Placing"
     ],
+    "classifies": [
+      "action_0"
+    ]
+  },
+  {
+    "components": {},
+    "name": "action_0",
+    "is_a": [
+      "http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#Action"
+    ],
+    "hasParticipant": [
+      "cup_0",
+      "actor_0"
+    ]
+  },
+  {
     "components": {
       "transform": {
         "position": {
-          "x": 0,
-          "y": 0,
-          "z": 0
+          "x": 0.5925120115280159,
+          "y": 0.653468012809754,
+          "z": -1.600627094507217
         },
         "orientation": {
+          "x": -1.3969840395589e-8,
+          "y": -0.918447494506836,
+          "z": 1.11758726717426e-8,
+          "w": -0.395542949438095
+        }
+      },
+      "bounds": {
+        "center": {
           "x": 0,
-          "y": 0,
-          "z": 0,
-          "w": 0
+          "y": 0.0600000023841858,
+          "z": 0.0177846029400826
+        },
+        "extents": {
+          "x": 0,
+          "y": 0.0600000023841858,
+          "z": 0.0177846029400826
+        },
+        "size": {
+          "x": 0,
+          "y": 0.0600000023841858,
+          "z": 0.0177846029400826
         }
-      }
-    }
-  },
-  {
-    "name": "table_0",
+      },
+      "containerVolume": [
+        {
+          "type": "BoxCollider",
+          "center": {
+            "x": -2.57680034637451,
+            "y": 0.902314186096191,
+            "z": 1.73480021953583
+          },
+          "size": {
+            "x": 0.105839252471924,
+            "y": 0.104725956916809,
+            "z": 0.104326486587524
+          },
+          "extents": {
+            "x": 0.0529196262359619,
+            "y": 0.0523629784584045,
+            "z": 0.0521632432937622
+          }
+        },
+        {
+          "type": "BoxCollider",
+          "center": {
+            "x": -2.57640409469604,
+            "y": 0.902528047561646,
+            "z": 1.736492395401
+          },
+          "size": {
+            "x": 0.0742592811584473,
+            "y": 0.105153679847717,
+            "z": 0.100225448608398
+          },
+          "extents": {
+            "x": 0.0371296405792236,
+            "y": 0.0525768399238586,
+            "z": 0.0501127243041992
+          }
+        },
+        {
+          "type": "BoxCollider",
+          "center": {
+            "x": -2.57640409469604,
+            "y": 0.902442157268524,
+            "z": 1.73649263381958
+          },
+          "size": {
+            "x": 0.102631092071533,
+            "y": 0.104981899261475,
+            "z": 0.0802216529846191
+          },
+          "extents": {
+            "x": 0.0513155460357666,
+            "y": 0.0524909496307373,
+            "z": 0.0401108264923096
+          }
+        }
+      ]
+    },
+    "name": "cup_0",
     "is_a": [
-      "http://www.ease-crc.org/ont/EASE.owl#Table"
+      "http://ease-ph.glpages.informatik.uni-bremen.de/dlu/dlu/EASE-DLUext.owl#Cup",
+      "http://www.ease-crc.org/ont/EASE.owl#DesignedContainer"
     ],
+    "isOntopOf": [
+      "table_0"
+    ]
+  },
+  {
     "components": {
       "transform": {
         "position": {
@@ -36,54 +130,34 @@
           "x": 0,
           "y": 0,
           "z": 0,
-          "w": 0
+          "w": 1
         }
       }
-    }
-  },
-  {
-    "name": "?task_0",
+    },
+    "name": "actor_0",
     "is_a": [
-      "http://www.ease-crc.org/ont/EASE-ACT.owl#Placing"
-    ],
-    "classifies": [
-      "action_0"
-    ],
-    "components": {}
+      "http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalAgent"
+    ]
   },
   {
-    "name": "cup_0",
-    "is_a": [
-      "http://ease-ph.glpages.informatik.uni-bremen.de/dlu/dlu/EASE-DLUext.owl#Cup"
-    ],
-    "isOntopOf": [
-      "table_0"
-    ],
     "components": {
       "transform": {
         "position": {
-          "x": 0,
+          "x": 1.43400001525879,
           "y": 0,
-          "z": 0
+          "z": -2.04800009727478
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0,
-          "w": 0
+          "w": 1
         }
       }
-    }
-  },
-  {
-    "name": "action_0",
+    },
+    "name": "table_0",
     "is_a": [
-      "http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#Action"
-    ],
-    "hasParticipant": [
-      "actor_0",
-      "cup_0"
-    ],
-    "components": {}
+      "http://www.ease-crc.org/ont/EASE.owl#Table"
+    ]
   }
 ]
\ No newline at end of file

Assets/DLU/Scenes/Kitchen.unity

@@ -2870,6 +2870,36 @@ Transform:
   m_Father: {fileID: 1899308096}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &580399489
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 580399490}
+  m_Layer: 0
+  m_Name: ComparisonPosition
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &580399490
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580399489}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0.59, y: 0.713, z: -1.58}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1001 &591176976
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -7878,7 +7908,7 @@ Rigidbody:
   m_IsKinematic: 0
   m_Interpolate: 0
   m_Constraints: 0
-  m_CollisionDetection: 2
+  m_CollisionDetection: 3
 --- !u!114 &1331286837
 MonoBehaviour:
   m_ObjectHideFlags: 0

Assets/DLU/Scripts/Editor/SceneControllerEditor.cs

@@ -65,10 +65,7 @@ public class SceneControllerEditor : Editor
     private void ExportContext(SceneController sc)
     {
         string exportFile = EditorGUILayout.TextField("Export Context File", "Assets/DLU/Resources/context.json");
-        if (sceneJson == null)
-        {
-            sceneJson = GenerateContextJSON(sc);
-        }
+        sceneJson = GenerateContextJSON(sc);
         if (GUILayout.Button("Export to file"))
         {
             File.WriteAllText(exportFile, sceneJson.ToString());
@@ -129,14 +126,21 @@ public class SceneControllerEditor : Editor
         transform["orientation"] = entity.transform.rotation;
         jsonObject["components"]["transform"] = transform;
 
+        Vector3 scale = entity.transform.lossyScale;
         MeshFilter meshFilter = entity.GetComponent<MeshFilter>();
         if (meshFilter != null)
         {
             Mesh mesh = meshFilter.sharedMesh;
+            Vector3 boundsCenterWorld = mesh.bounds.center;
+            boundsCenterWorld.Scale(scale);
+            Vector3 boundsExtentsWorld = mesh.bounds.center;
+            boundsExtentsWorld.Scale(scale);
+            Vector3 boundsSizeWorld = mesh.bounds.center;
+            boundsSizeWorld.Scale(scale);
             JSONObject bounds = new JSONObject();
-            bounds["center"] = mesh.bounds.center;
-            bounds["extents"] = mesh.bounds.extents;
-            bounds["size"] = mesh.bounds.size;
+            bounds["center"] = boundsCenterWorld;
+            bounds["extents"] = boundsExtentsWorld;
+            bounds["size"] = boundsSizeWorld;
             jsonObject["components"]["bounds"] = bounds;
         }
     }

Assets/DLU/Scripts/SceneController.cs

@@ -15,7 +15,7 @@ public class SceneController : MonoBehaviour
     [HideInInspector]
     public JSONArray instruction = null;
     private SemanticBehaviour[] _semanticBehaviours;
-    private Dictionary<string, GameObject> sceneDict;  //  = new Dictionary<string, GameObject>();
+    private Dictionary<string, GameObject> sceneDict;
 
     [HideInInspector]
     public SemanticBehaviour[] semanticBehaviours {
@@ -98,16 +98,28 @@ public class SceneController : MonoBehaviour
             Debug.Log($"Participant: {participant}");
             foreach(JSONNode is_a in taskDict[participant]["is_a"])
             {
+                // TODO(@shoeffner): This is not good: we should query the ontology and don't use is_a which are also PhysicalAgents etc., also just add participants once
                 if (is_a != "http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalAgent")
                 {
                     participants.Add(participant);
+                    break;
                 }
             }
         }
-
         foreach (string participant in participants)
         {
+            GameObject participantGO = sceneDict[participant];
             GameObject targetGO = new GameObject($"Target of {participant}");
+
+            // Setup visuals
+            GameObject renderer = new GameObject("RenderComponents");
+            renderer.transform.SetParent(targetGO.transform);
+            renderer.transform.localScale = participantGO.transform.lossyScale;
+            MeshFilter mesh = renderer.AddComponent<MeshFilter>();
+            mesh.mesh = participantGO.GetComponent<MeshFilter>().mesh;
+            MeshRenderer mr = renderer.AddComponent<MeshRenderer>();
+            mr.material = Resources.Load<Material>("Target");
+
             Vector3 position = taskDict[participant]["components"]["transform"]["position"];
             Quaternion orientation = taskDict[participant]["components"]["transform"]["orientation"];
             targetGO.transform.SetPositionAndRotation(position, orientation);
@@ -118,7 +130,7 @@ public class SceneController : MonoBehaviour
             arguments["position"] = targetGO.transform;
             arguments["speed"] = speed;
 
-            iTween.MoveTo(sceneDict[participant], arguments);
+            iTween.MoveTo(participantGO, arguments);
         }
         yield return null;
     }