Commit 5c92c56e authored by Sebastian Koralewski's avatar Sebastian Koralewski
Browse files

Add episode

parent 06752e03
/episode1
/episode2
outs:
- md5: 3831854aefe154099b04b8abe4816917.dir
path: episode1
outs:
- md5: 6a148ba816d7b9450b1e79089eb26261.dir
path: episode2
{
"query": [
{
"q": "",
"text": "----- PR2 Pick&Place demo -----"
},
{
"q": "% Agent knowledge\nowl_parse('package://knowrob_srdl/owl/PR2.owl'),\nshow('http://knowrob.org/kb/PR2.owl#PR2Robot1', 1396512559.0),\n% Episodic memory\nload_experiments('/episodes/Pick-and-Place/pr2-general-pick-and-place_0/', ['episode1'], 'log.owl'),\n% Environment knowledge\nowl_parse('package://iai_semantic_maps/owl/room.owl'),\nrdf_register_ns(map, 'http://knowrob.org/kb/ias_semantic_map.owl#', [keep(true)]),\nshow('http://knowrob.org/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j', 1396512559.0).",
"text": "Load knowledge sources and show semantic map "
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Queries on the semantic map -----"
},
{
"q": "owl_subclass_of(T, knowrob:'StorageConstruct'),\nclass_properties(T, knowrob:'typePrimaryFunction-StoragePlaceFor', knowrob:'Perishable'), owl_individual_of(Obj, T),\nhighlight(Obj).",
"text": "What is the storage place for perishable items?"
},
{
"q": "entity(Obj, [an, object, [type, electrical_device]]),\nhighlight(Obj).",
"text": "Which are electrical devices?"
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Queries on the logged belief state -----"
},
{
"q": "entity(Act, [an, action,\n [goal_context, '(OBJECT-PLACED-AT ?OBJ ?LOC)']]),\noccurs(Act, [Begin,End]),\nentity(Base, [an, object,\n [srdl2comp:urdf_name, 'base_link']]),\nshow(trajectory(Base),\n interval(Begin,End,dt(0.5))).",
"text": "Which path did the PR2 follow during the pick-and-place task?"
},
{
"q": "entity(Act, [an, action, [task_context, 'PUTDOWN']]),\noccurs(Act, [Begin,End]),\nentity(Base, [an, object,\n [srdl2comp:urdf_name, 'base_link']]),\nobject_pose_at_time(Base, End, pose(Pos,Rot)),\nshow(cube(base), [ pose(Pos,Rot),\n scale([0.5,0.5,0.5]),\n color([0.3,0.3,0.1])]).",
"text": "Where did it stand during the PUT-DOWN actions?"
},
{
"q": "entity(Act, [an, action,\n [type, visual_perception],\n [perception_result, Desig]]),\noccurs(Act, [_,End]),\nadd_object_as_semantic_instance(Desig, Loc, End, Obj), \nshow(Obj),\ndesignator_publish(Desig).",
"text": "Where have objects been perceived during the task?"
},
{
"q": "entity(Act, [an, action, [task_context, 'PUTDOWN']]),\noccurs(Act, [Begin,End]),\nobject_pose_at_time(pr2:'pr2_base_link', End, pose(Pos,Rot)),\nshow(pr2:'PR2Robot1', End).",
"text": "What was the pose of the PR2 at the end of the PUTDOWN action?"
},
{
"q": "entity(Act, [an, action,\n [task_context, 'PUTDOWN']]),\nsubtask_all(Act, Sub),\nentity(Sub, [an, action,\n [voluntary_movement_details, Desig]]),\noccurs(Act, [Begin,End]),\nmng_designator_props(Desig, 'LINK', Link),\nshow(trajectory(Link),\n interval(Begin, End, dt(0.1))).",
"text": "What was the arm trajectory during the PUTDOWN action?"
},
{
"q": "action_designator_exp(A, [an, action, [to, grasp]]).",
"text": "Which grasp actions were occurred?"
},
{
"q": "task_designator_exp(T, [perform, [an, action, [to, grasp]]]),\noccurs(T,[Begin,End]).",
"text": "Which grasp tasks were performed?"
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Logfile statistics -----"
},
{
"q": "findall(Type-Num, (\n owl_subclass_of(T, knowrob:'CRAMFailure'),\n rdf_split_url(_, Type, T),\n findall(F, failure_type(F, T), Failures),\n length(Failures, Num)\n), Distrib),\npairs_keys_values(Distrib, Types, Nums),\nadd_diagram(errordist, 'Error distribution', piechart,\n xlabel, ylabel, 350, 350, '11px', [[Types, Nums]]).",
"text": "Show occurences of typical error types in the chart"
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Videos -----"
},
{
"q": "experiment_videos('Pick-and-Place', 'pr2-general-pick-and-place_0', Videos), member(V,Videos), video_play(V).",
"text": "Play available videos"
}
],
"time_intervals": [
{
"start": 1396512425,
"end": 1396513242
},
{
"start": 1409663523,
"end": 1409664334
}
],
"meta": {
"platforms": [
"Robotic Agents"
],
"tags": [],
"name": "Kitchen Pick&Place [PR2]",
"projects": [
"RoboHow"
],
"description": "The long-term fetch and place knowledge base contains activity episodes of an autonomous robot setting a table. The challenges in this scenario is that the robot has to perform vaguely formulated tasks such as \u201cput the items needed on the table and arrange them in the appropriate way\u201d. The robot reasons about where to find objects, where to stand to pick them up, and how to pick them up and handle them."
},
"video": [
{
"end": "1396513242",
"name": "Single-handed Pick and Place",
"initialization": "load_experiment('/episodes/Pick-and-Place/pr2-general-pick-and-place_0/episode1/log.owl'), \nowl_parse('package://iai_semantic_maps/owl/room.owl'), \nowl_parse('package://knowrob_srdl/owl/PR2.owl'), \nmarker_update(object('http://knowrob.org/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j')), \nmarker_update(agent(pr2:'PR2Robot1'), T), marker_publish.",
"start": "1396512425",
"animation": "marker_update(agent(pr2:'PR2Robot1'),T), marker_publish.",
"fps": 6
}
]
}
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