Commit 92f259a3 authored by Sebastian Koralewski's avatar Sebastian Koralewski
Browse files

Add episode

parent c7d0999d
/episode1
/episode2
/episode3
outs:
- md5: cd23ec8b9d760d8d1f0a7a639de4dba1.dir
path: episode1
outs:
- md5: 863ea4f1f3ccc133e88518bcc8a56ab5.dir
path: episode2
outs:
- md5: c30e1d0c35be1bc5d4681b36ab7e4499.dir
path: episode3
{
"query": [
{
"q": "",
"text": "----- Pick&Place demo -----"
},
{
"q": "register_ros_package(knowrob_saphari),\n% Agent knowledge\nowl_parse('package://knowrob_srdl/owl/Boxy.owl'),\nowl_parse('package://knowrob_srdl/owl/openni_human1.owl'),\nshow('http://knowrob.org/kb/Boxy.owl#boxy_robot1', 1424290851.0),\n% Episodic memory\nload_experiments('/episodes/Safe-Interaction/boxy-safe_0/', 'log.owl'),\n% Environment knowledge\nowl_parse('package://knowrob_saphari/owl/saphari-map_2015.owl'),\nshow('http://knowrob.org/kb/saphari-map_2015.owl#Map_0', 1424290851.0).",
"text": "Load knowledge sources and show semantic map "
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Queries on the robot's logged belief state -----"
},
{
"q": "entity(Act, [an, action,\n [type, visual_perception],\n [perception_result, Desig]\n]),\noccurs(Act, [_,End]),\nholds( knowrob:designatedThing(Desig, Obj) ),\nshow([\n [saphari_map_2015:'Map_0', End],\n [boxy:'boxy_robot1', End]\n]),\nhighlight(Obj),\nshow(Desig).",
"text": "Which objects were perceived during the experiment?"
},
{
"q": "owl_individual_of(_I, saphari:'HumanIntrusion'),\nowl_has(_I, knowrob:'startTime', T),\nowl_has(_I, knowrob:'designator', _D),\nmng_designator_props(_D, 'TF-PREFIX', _Prefix),\nintrusion_link(openni_human:'iai_human_robot1', _Prefix, T, BodyPart).",
"text": "Which body parts of the human intersected the safety area at first?"
},
{
"q": "entity(Act, [an, event,\n [type, saphari:human_intrusion]\n]),\noccurs(Act, [Begin,_]),\nshow([\n [saphari_map_2015:'Map_0', Begin],\n [boxy:'boxy_robot1', Begin]\n]).",
"text": "How did the scene looked like when intrusion events occurred?"
},
{
"q": "entity(Evt, [an, event,\n [type, saphari:human_intrusion],\n [designator, Desig]\n]),\noccurs(Evt, [Begin,End]),\nshow([\n [saphari_map_2015:'Map_0', End],\n [boxy:'boxy_robot1', End]\n]),\nmng_designator_props(Desig, 'TF-PREFIX', Prefix),\natom_concat(Prefix, 'lefthand', Frame),\nshow(trajectory(Frame), interval(Begin,End,dt(0.1))).",
"text": "Show left hand trajectories during intrusion events."
},
{
"q": "entity(Scalpel, [an, object, [type, scalpel]]),\nholds( knowrob:pose(A,P) ),\nhighlight(Scalpel).",
"text": "What was the position of the scalpel during the Experiment?"
},
{
"q": "entity(Obj, [an, object,\n [type, scalpel],\n [dangerous_part, Part]\n]).",
"text": "What are the dangerous parts of the Scalpel?"
},
{
"q": "",
"text": ""
},
{
"q": "",
"text": "----- Queries on controller designators -----"
},
{
"q": "action_designator('REPLACEABLE-FUNCTION-MOVE-DOWN-UNTIL-TOUCH', Timepoint, Designator),\nmng_designator_props(Designator, 'CONTACT-STRATEGIES.SEVERE-COLLISION', Policy).",
"text": "What was the collision strategy during the experiment?"
},
{
"q": "findall([Obj2,Timepoint], (\n action_designator('REPLACEABLE-FUNCTION-MOVE-OVER-OBJECT', Timepoint, Designator),\n mng_designator_props(Designator, 'ARM', 'RIGHT'),\n mng_designator_props(Designator, 'OBJECT._ID', Object),\n atom_concat('http://knowrob.org/kb/cram_log.owl#', Object, Obj2)\n), Objects),\nmember([Obj2,Timepoint], Objects),\ndesignator_publish(Obj2).",
"text": "Over which objects did the robot move the right arm?"
},
{
"q": "saphari_move_down_events(_Events),\nfindall([_Event,_Collision], (\n member(_Event,_Events),\n rdf_has(_Event, knowrob:'startTime', _S),\n rdf_has(_Event, knowrob:'endTime', _E),\n saphari_collision_events(_CType, _CEvents),\n member(_Collision, _CEvents),\n rdf_has(_Collision, knowrob:'startTime', _CS),\n time_between(_CS, _S, _E)\n), Collisions).",
"text": "Did collisions happen during a MOVE-DOWN-UNTIL-TOUCH action?"
},
{
"q": "saphari_intrusion_events(Events),\nfindall(Collision, (\n member(Event,Events),\n rdf_has(Event, knowrob:'startTime', S),\n rdf_has(Event, knowrob:'endTime', E),\n saphari_collision_events(CType, CEvents),\n member(Collision, CEvents),\n rdf_has(Collision, knowrob:'startTime', CS),\n time_between(CS, S, E)\n), Collisions),\nnot(Collisions = []).",
"text": "Did collisions happen during a HUMAN-INTRUSION event?"
},
{
"q": "findall(_Type-_Num, (\n saphari_collision_events(_Type, _Events),\n length(_Events, _Num)\n), Distrib),\npairs_keys_values(Distrib, Types, _Nums),\nadd_diagram(errordist, 'Collision distribution', piechart,\n xlabel, ylabel, 350, 350, '11px', [[Types, _Nums]]).",
"text": "Display the collision types which occurred during the experiment in a pie chart!"
},
{
"q": "findall(_Type-_Num, (\n saphari_action_events(_Type, _Events),\n findall(_E, (\n member(_E, _Events),\n owl_individual_of(_I, saphari:'HumanIntrusion'),\n rdf_has(_E, knowrob:'startTime', _T0),\n rdf_has(_E, knowrob:'endTime', _T1),\n rdf_has(_I, knowrob:'startTime', _T),\n time_between(_T, _T0, _T1)\n ), _MatchingEvents),\n length(_MatchingEvents, _Num)\n), Distrib),\npairs_keys_values(Distrib, Types, Nums),\nadd_diagram(errordist, 'Action distribution', piechart,\n xlabel, ylabel, 350, 350, '11px', [[Types, Nums]]).",
"text": "Display the action types during which an human intrusion occurred in a pie chart"
},
{
"q": "_Ranges = [[0.0,3.0,'0-3s'], [3.0,6.0,'3-6s'], [6.0,9999.0,'>6s']],\nfindall(_Key-_Num, (\n member([_Low,_High,_Key], _Ranges),\n findall(_I, (\n owl_individual_of(_I, saphari:'HumanIntrusion'),\n rdf_has(_I, knowrob:'startTime', _S),\n rdf_has(_I, knowrob:'endTime', _E),\n time_term(_S, _STime),\n time_term(_E, _ETime),\n _Duration is _ETime - _STime,\n _Duration >= _Low,\n _High >= _Duration\n ), _Matching),\n length(_Matching, _Num)\n), Distrib),\npairs_keys_values(Distrib, Types, Nums),\nadd_diagram(errordist, 'Intrusion distribution', piechart,\n xlabel, ylabel, 350, 350, '11px', [[Types, Nums]]).",
"text": "Display the human intrusion as a function of their length in a pie chart"
},
{
"q": "mng_designator_distinct_values('designator.USER-ID', _IdList),\nfindall(_Id-_Num, (\n member(_NumJava, _IdList),\n jpl_call(_NumJava, 'intValue', [], _Id),\n term_to_atom(_Id,_IdAtom),\n findall(_Designator, (\n owl_individual_of(_Intr, saphari:'HumanIntrusion'),\n rdf_has(_Intr, knowrob:'designator', _Designator),\n mng_designator_props(_Designator, 'USER-ID', _IdAtom)\n ), _Designators),\n length(_Designators, _Num)\n), Distrib),\npairs_keys_values(Distrib, Types, Nums),\nadd_diagram(errordist, 'Intrusion distribution', piechart,\n xlabel, ylabel, 350, 350, '11px', [[Types, Nums]]).",
"text": "Display the human intrusion distribution in a pie chart"
}
],
"time_intervals": [
{
"start": 1424290832,
"end": 1424290885
},
{
"start": 1424291023,
"end": 1424291097
},
{
"start": 1424291329,
"end": 1424291374
}
],
"meta": {
"platforms": [
"Robotic Agents"
],
"name": "Clearing a table [Boxy]",
"description": "The Safe Human-Robot Activity dataset contains information from an experiment in which a robot shares its workspace with a human co-worker. It contains poses of perceived human body parts, estimated external forces acting on the robot arms, the robot joint state, and semantic descriptions of performed actions and safety reactions. We believe that recalling safety-related events through such a knowledge base will make robots safety-aware.",
"projects": [
"SAPHARI"
],
"tags": []
},
"video": [
{
"end": "1424290885",
"name": "Boxy Safe Interaction",
"initialization": "register_ros_package(knowrob_saphari), load_experiment('/episodes/Safe-Interaction/boxy-safe_0/episode1/log.owl'), owl_parse('package://knowrob_saphari/owl/saphari_map.owl'), marker_update(object('http://knowrob.org/kb/saphari_map.owl#Map_SAPHARI')), marker_publish.",
"start": "1424290832",
"animation": "saphari_visualize_experiment(T), marker_publish.",
"fps": 6
}
]
}
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