From 13de71b42b27fd3516979cf222f2a67e62063ac7 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 00:39:17 +0100 Subject: [PATCH 01/38] [bullet projection] clip joint state outside of limit in btr but throw an error in projection --- .../src/robot-model.lisp | 8 +++---- .../cram_urdf_projection/src/low-level.lisp | 24 ++++++++++++++++++- 2 files changed, 27 insertions(+), 5 deletions(-) diff --git a/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp b/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp index cc7ecda5ec..9f18b80343 100644 --- a/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp +++ b/cram_3d_world/cram_bullet_reasoning/src/robot-model.lisp @@ -555,10 +555,10 @@ current joint states" (setf new-value (cl-transforms:normalize-angle new-value))) (unless (and (<= new-value (cl-urdf:upper limits)) (>= new-value (cl-urdf:lower limits))) - ;; (setf new-value (min (max new-value (cl-urdf:lower limits)) - ;; (cl-urdf:upper limits))) - (error "Trying to assert joint value for ~a to ~a but limits are (~a; ~a)" - name new-value (cl-urdf:lower limits) (cl-urdf:upper limits)))) + (setf new-value (min (max new-value (cl-urdf:lower limits)) + (cl-urdf:upper limits))) + (warn "Trying to assert joint value for ~a to ~a but limits are (~a; ~a)" + name new-value (cl-urdf:lower limits) (cl-urdf:upper limits)))) (let ((joint-transform (cl-transforms:transform* (cl-transforms:reference-transform diff --git a/cram_3d_world/cram_urdf_projection/src/low-level.lisp b/cram_3d_world/cram_urdf_projection/src/low-level.lisp index bd9e284c7c..bcf46297ed 100644 --- a/cram_3d_world/cram_urdf_projection/src/low-level.lisp +++ b/cram_3d_world/cram_urdf_projection/src/low-level.lisp @@ -39,6 +39,8 @@ (defparameter *be-strict-with-collisions* nil "when grasping a spoon from table, fingers can collide with kitchen, so we might allow this") +(defparameter *projection-convergence-delta-joint* 0.17 "in radiants, about 10 degrees") + (defun robot-transform-in-map () (let ((pose-in-map (cut:var-value @@ -553,7 +555,27 @@ with the object, calculates similar angle around Y axis and applies the rotation `(and (btr:bullet-world ?world) (rob-int:robot ?robot) - (assert ?world (btr:joint-state ?robot ,joint-name-value-list))))))))) + (assert ?world (btr:joint-state ?robot ,joint-name-value-list))))) + ;; check if joint state was indeed reached + (let* ((robot-object + (btr:get-robot-object)) + (current-joint-state + (mapcar (lambda (joint-name-and-value) + (btr:joint-state robot-object + (car joint-name-and-value))) + joint-name-value-list)) + (goal-joint-state + (mapcar #'second joint-name-value-list))) + (unless (cram-tf:values-converged current-joint-state goal-joint-state + *projection-convergence-delta-joint*) + (cpl:fail 'common-fail:manipulation-goal-not-reached + :description (format nil "Projection did not converge to goal:~%~ + ~a (~a)~%should have been at~%~a~%~ + with delta-joint of ~a." + arm + current-joint-state + goal-joint-state + *projection-convergence-delta-joint*)))))))) (set-configuration :left left-configuration) (set-configuration :right right-configuration))) From a3d9bfa99a1cd9f644155a684f53c522bdb4d9f8 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 00:40:37 +0100 Subject: [PATCH 02/38] [kvr] delete accidentally committed failure log files --- .../experiments/failures_HEUR.csv | 462 --------------- .../experiments/failures_VR.csv | 549 ------------------ 2 files changed, 1011 deletions(-) delete mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_HEUR.csv delete mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_HEUR.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_HEUR.csv deleted file mode 100644 index dd4816fc15..0000000000 --- a/cram_knowrob/cram_knowrob_vr/experiments/failures_HEUR.csv +++ /dev/null @@ -1,462 +0,0 @@ -0,, - - -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,PERCEPTION-OBJECT-NOT-FOUND -0,BOWL,Could not find object #. -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,NAVIGATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,NAVIGATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,MANIPULATION-POSE-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,OBJECT-UNREACHABLE -0,BOWL,TRANSPORTING SUCCEEDED - -0,CUP,MANIPULATION-GOAL-NOT-REACHED -0,CUP,OBJECT-UNREACHABLE -0,CUP,MANIPULATION-POSE-UNREACHABLE -0,CUP,MANIPULATION-POSE-UNREACHABLE -0,CUP,MANIPULATION-POSE-UNREACHABLE -0,CUP,MANIPULATION-POSE-UNREACHABLE -0,CUP,MANIPULATION-POSE-UNREACHABLE -0,CUP,OBJECT-UNREACHABLE -0,CUP,OBJECT-UNDELIVERABLE -0,CUP,MANIPULATION-GOAL-NOT-REACHED -0,CUP,Robot is in collision with environment. -0,CUP,TRANSPORTING SUCCEEDED - -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,OBJECT-UNREACHABLE -0,SPOON,OBJECT-UNREACHABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,OBJECT-UNREACHABLE -0,SPOON,OBJECT-UNDELIVERABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,OBJECT-UNREACHABLE -0,SPOON,OBJECT-UNDELIVERABLE -0,SPOON,MANIPULATION-POSE-UNREACHABLE -0,SPOON,OBJECT-UNREACHABLE -0,SPOON,OBJECT-UNDELIVERABLE -0,SPOON,TRANSPORTING SUCCEEDED - -0,, - - -1,, - - -1,BOWL,NAVIGATION-POSE-UNREACHABLE -1,BOWL,NAVIGATION-POSE-UNREACHABLE -1,BOWL,TRANSPORTING SUCCEEDED - -1,CUP,MANIPULATION-POSE-UNREACHABLE -1,CUP,MANIPULATION-POSE-UNREACHABLE -1,CUP,MANIPULATION-POSE-UNREACHABLE -1,CUP,MANIPULATION-POSE-UNREACHABLE -1,CUP,MANIPULATION-GOAL-NOT-REACHED -1,CUP,Robot is in collision with environment. -1,CUP,TRANSPORTING SUCCEEDED - -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,OBJECT-UNDELIVERABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,OBJECT-UNDELIVERABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,OBJECT-UNDELIVERABLE -1,SPOON,MANIPULATION-POSE-UNREACHABLE -1,SPOON,OBJECT-UNREACHABLE -1,SPOON,OBJECT-UNDELIVERABLE -1,SPOON,TRANSPORTING SUCCEEDED - -1,, - - -2,, - - -2,BOWL,TRANSPORTING SUCCEEDED - -2,BOWL,SUM CURRENT OBJECT FAILURES - -2,CUP,NAVIGATION-POSE-UNREACHABLE -2,CUP,NAVIGATION-POSE-UNREACHABLE -2,CUP,NAVIGATION-POSE-UNREACHABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,MANIPULATION-POSE-UNREACHABLE -2,CUP,OBJECT-UNREACHABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,OBJECT-UNDELIVERABLE -2,CUP,DELIVERING-FAILED -2,CUP,TRANSPORTING FAILED - -2,CUP,SUM CURRENT OBJECT FAILURES - -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,OBJECT-UNREACHABLE -2,SPOON,OBJECT-UNREACHABLE -2,SPOON,NAVIGATION-POSE-UNREACHABLE -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,OBJECT-UNREACHABLE -2,SPOON,OBJECT-UNDELIVERABLE -2,SPOON,MANIPULATION-POSE-UNREACHABLE -2,SPOON,OBJECT-UNREACHABLE -2,SPOON,OBJECT-UNDELIVERABLE -2,SPOON,TRANSPORTING SUCCEEDED - -2,SPOON,SUM CURRENT OBJECT FAILURES - -2,,SUM CURRENT DEMO RUN FAILURES - -2,, - - -3,, - - -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,MANIPULATION-POSE-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,OBJECT-UNREACHABLE -3,BOWL,TRANSPORTING SUCCEEDED - -3,BOWL,SUM CURRENT OBJECT FAILURES - -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,CUP,MANIPULATION-POSE-UNREACHABLE -3,CUP,OBJECT-UNREACHABLE -3,CUP,OBJECT-UNDELIVERABLE -3,,SUM CURRENT DEMO RUN FAILURES - -3,, - - -4,, - - -4,BOWL,TRANSPORTING SUCCEEDED - -4,BOWL,SUM CURRENT OBJECT FAILURES - -4,CUP,MANIPULATION-POSE-UNREACHABLE -4,CUP,MANIPULATION-POSE-UNREACHABLE -4,CUP,MANIPULATION-GOAL-NOT-REACHED -4,CUP,MANIPULATION-GOAL-NOT-REACHED -4,CUP,TRANSPORTING SUCCEEDED - -4,CUP,SUM CURRENT OBJECT FAILURES - -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,NAVIGATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,MANIPULATION-POSE-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,OBJECT-UNREACHABLE -4,SPOON,TRANSPORTING SUCCEEDED - -4,SPOON,SUM CURRENT OBJECT FAILURES - -4,,SUM CURRENT DEMO RUN FAILURES - -4,, - - -5,, - - -5,BOWL,TRANSPORTING SUCCEEDED - -5,BOWL,SUM CURRENT OBJECT FAILURES - -5,CUP,MANIPULATION-POSE-UNREACHABLE -5,CUP,MANIPULATION-POSE-UNREACHABLE -5,CUP,MANIPULATION-POSE-UNREACHABLE -5,CUP,OBJECT-UNREACHABLE -5,CUP,OBJECT-UNDELIVERABLE -5,CUP,MANIPULATION-GOAL-NOT-REACHED -5,CUP,MANIPULATION-GOAL-NOT-REACHED -5,CUP,TRANSPORTING SUCCEEDED - -5,CUP,SUM CURRENT OBJECT FAILURES - -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,MANIPULATION-POSE-UNREACHABLE -5,SPOON,OBJECT-UNREACHABLE -5,SPOON,OBJECT-UNDELIVERABLE -5,SPOON,TRANSPORTING SUCCEEDED - -5,SPOON,SUM CURRENT OBJECT FAILURES - -5,,SUM CURRENT DEMO RUN FAILURES - -5,, - - -6,, - - -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,NAVIGATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,MANIPULATION-POSE-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,OBJECT-UNREACHABLE -6,BOWL,TRANSPORTING SUCCEEDED - -6,BOWL,SUM CURRENT OBJECT FAILURES - -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,MANIPULATION-POSE-UNREACHABLE -6,CUP,OBJECT-UNREACHABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,OBJECT-UNDELIVERABLE -6,CUP,DELIVERING-FAILED -6,CUP,MANIPULATION-GOAL-NOT-REACHED -6,CUP,MANIPULATION-GOAL-NOT-REACHED -6,CUP,MANIPULATION-GOAL-NOT-REACHED -6,CUP,MANIPULATION-GOAL-NOT-REACHED -6,CUP,TRANSPORTING FAILED - -6,CUP,SUM CURRENT OBJECT FAILURES - -6,SPOON,TRANSPORTING SUCCEEDED - -6,SPOON,SUM CURRENT OBJECT FAILURES - -6,,SUM CURRENT DEMO RUN FAILURES - -6,, - - diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv deleted file mode 100644 index 74e8fa7913..0000000000 --- a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv +++ /dev/null @@ -1,549 +0,0 @@ -0,,,,,,,,,,,,, -,,,,,,,,,,,,, -,,,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,BOWL,FETCHING-FAILED,,,,,,,,,,, -0,BOWL,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -0,BOWL,SUM CURRENT OBJECT FAILURES,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -0,CUP,FETCHING-FAILED,,,,,,,,,,, -0,CUP,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -0,CUP,SUM CURRENT OBJECT FAILURES,,,,,,,,,,, -0,SPOON,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -0,SPOON,SEARCHING-FAILED,,,,,,,,,,, -0,SPOON,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -0,SPOON,SUM CURRENT OBJECT FAILURES,,,,,,,,,,, -0,,SUM CURRENT DEMO RUN FAILURES,,,,,,,,,,, -0,,,,,,,,,,,,, -,,,,,,,,,,,,, -,,,,,,,,,,,,, -1,,,,,,,,,,,,, -,,,,,,,,,,,,, -,,,,,,,,,,,,, -1,BOWL,TRANSPORTING SUCCEEDED,,,,,,,,,,, -,,,,,,,,,,,,, -1,BOWL,SUM CURRENT OBJECT FAILURES~%,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -1,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -1,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -1,CUP,MANIPULATION-GOAL-NOT-REACHED,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,MANIPULATION-POSE-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNREACHABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,OBJECT-UNDELIVERABLE,,,,,,,,,,, -1,CUP,DELIVERING-FAILED,,,,,,,,,,, -1,CUP,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -1,CUP,SUM CURRENT OBJECT FAILURES~%,,,,,,,,,,, -1,SPOON,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -1,SPOON,SEARCHING-FAILED,,,,,,,,,,, -1,SPOON,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -1,SPOON,SUM CURRENT OBJECT FAILURES~%,,,,,,,,,,, -1,,SUM CURRENT DEMO RUN FAILURES~%,,,,,,,,,,, -1,,,,,,,,,,,,, -,,,,,,,,,,,,, -,,,,,,,,,,,,, -2,,,,,,,,,,,,, -,,,,,,,,,,,,, -,,,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,BOWL,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,BOWL,FETCHING-FAILED,,,,,,,,,,, -2,BOWL,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -2,BOWL,SUM CURRENT OBJECT FAILURES,,,,,,,,,,, -,,,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,NAVIGATION-POSE-UNREACHABLE,,,,,,,,,,, -2,CUP,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,CUP,FETCHING-FAILED,,,,,,,,,,, -2,CUP,TRANSPORTING FAILED,,,,,,,,,,, -,,,RUN ID,OBJ TYPE,FAILED?,SEARCH-F,FETCH-F,DELIV-F,NAV-F,MANIP-F,PERC-F,PTU-F,TIME MS -2,CUP,SUM CURRENT OBJECT FAILURES,2,CUP,1,0,1,0,0,45,45,0,1234 -,,,,,,,,,,,,, -2,SPOON,NAVIGATION-GOAL-IN-COLLISION,,,,,,,,,,, -2,SPOON,SEARCHING-FAILED,,,,,,,,,,, -2,SPOON,TRANSPORTING FAILED,,,,,,,,,,, -,,,,,,,,,,,,, -2,SPOON,SUM CURRENT OBJECT FAILURES,,,,,,,,,,, -,,,,,,,,,,,,, -2,,SUM CURRENT DEMO RUN FAILURES,2,SUM,3,1,2,0,45,78,12,0,5646 -,,,,,,,,,,,,, -2,,,,,,,,,,,,, From 1705161ffdb4fcf47ed582f11df9c11664d1cc6a Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 00:41:11 +0100 Subject: [PATCH 03/38] [kvr] made demo independent of robot platform --- .../cram_knowrob_vr/cram-knowrob-vr.asd | 2 +- .../cram_knowrob_vr/launch/simulation.launch | 32 ++++++++++++------- 2 files changed, 22 insertions(+), 12 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd index 3d32dbebfb..4d10207749 100644 --- a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd +++ b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd @@ -48,7 +48,7 @@ cram-prolog cram-common-failures cram-urdf-projection - cram-pr2-description + ;; cram-pr2-description cram-robot-interfaces cram-fetch-deliver-plans ;; costmaps are loaded for comparison with heuristics experiments diff --git a/cram_knowrob/cram_knowrob_vr/launch/simulation.launch b/cram_knowrob/cram_knowrob_vr/launch/simulation.launch index a6a0835b41..23f60e90eb 100644 --- a/cram_knowrob/cram_knowrob_vr/launch/simulation.launch +++ b/cram_knowrob/cram_knowrob_vr/launch/simulation.launch @@ -1,15 +1,14 @@ - + + + - - - - + - + + + + + + @@ -49,9 +53,15 @@ - - - + + + + + + + + + From 65e96d5a08325595b79fd06810fffb13a1e15fa2 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 00:41:45 +0100 Subject: [PATCH 04/38] [kvr] logging only summary of failures and also durations --- .../src/fetch-and-deliver-based-demo.lisp | 188 ++++++++++++++---- 1 file changed, 150 insertions(+), 38 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index 928f90fe84..d06698832b 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -193,33 +193,49 @@ (defparameter *experiment-log-filename* "package://cram_knowrob_vr/experiments/failures") (defparameter *experiment-log-extension* ".csv") -(defvar *experiment-log-current-object* "") +(defparameter *experiment-log-detailed?* nil) + +(defvar *experiment-log-current-object* nil) (defvar *experiment-log-current-demo-run-vr* -1) (defvar *experiment-log-current-demo-run-heur* -1) (defparameter *experiment-log-failures-to-count* '(common-fail:searching-failed common-fail:fetching-failed common-fail:delivering-failed - common-fail:navigation-low-level-failure common-fail:manipulation-low-level-failure - common-fail:perception-low-level-failure common-fail:ptu-low-level-failure)) + common-fail:perception-low-level-failure common-fail:navigation-low-level-failure + common-fail:manipulation-low-level-failure common-fail:ptu-low-level-failure)) (defvar *experiment-log-current-demo-run-object-failures* nil) +(defvar *experiment-log-current-execution-time-bowl* 0) +(defvar *experiment-log-current-execution-time-cup* 0) +(defvar *experiment-log-current-execution-time-spoon* 0) + (defun experiment-log (string &key (object-type *experiment-log-current-object*) (demo-run (if *kvr-enabled* *experiment-log-current-demo-run-vr* *experiment-log-current-demo-run-heur*))) - (with-open-file (stream (physics-utils:parse-uri - (format nil - "~a_~a~a" - *experiment-log-filename* - (if *kvr-enabled* "VR" "HEUR") - *experiment-log-extension*)) - :direction :output - :if-exists :append - :if-does-not-exist :create) - (format stream "~a,~a,~a~%" demo-run object-type string))) + (let ((file-path + (physics-utils:parse-uri + (format nil + "~a_~a~a" + *experiment-log-filename* + (if *kvr-enabled* "VR" "HEUR") + *experiment-log-extension*)))) + (unless (probe-file file-path) + (with-open-file (stream file-path + :direction :output + :if-exists :error + :if-does-not-exist :create) + (format stream "RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,~ + SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,~ + PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC~%~%~%"))) + (with-open-file (stream file-path + :direction :output + :if-exists :append + :if-does-not-exist :error) + (format stream "~a,~a,~a~%" demo-run (or object-type "") string)))) (defun read-last-line (file-uri) (with-open-file (stream (physics-utils:parse-uri file-uri) @@ -271,22 +287,23 @@ (string 'cpl:simple-plan-failure) (cpl:plan-failure (type-of (first args))) (t 'unknown-failure---------------------)))) - (experiment-log - (btr-belief::replace-all - (format nil "~a" failure-symbol) - '(#\Newline) " ")) - (mapc (lambda (tracked-failure-symbol) - (when (subtypep failure-symbol tracked-failure-symbol) - (incf (getf (getf *experiment-log-current-demo-run-object-failures* - *experiment-log-current-object*) - tracked-failure-symbol)))) - *experiment-log-failures-to-count*))) - -(defun experiment-log-current-object-failures () - (experiment-log (format nil "SUM CURRENT OBJECT FAILURES~%"))) - -(defun experiment-log-current-demo-run-failures () - (experiment-log (format nil "SUM CURRENT DEMO RUN FAILURES~%"))) + (when *experiment-log-detailed?* + (experiment-log + (btr-belief::replace-all + (format nil "~a" failure-symbol) + '(#\Newline) " "))) + (when (and *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + (if (getf *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + (mapc (lambda (tracked-failure-symbol) + (when (subtypep failure-symbol tracked-failure-symbol) + (incf (getf (getf *experiment-log-current-demo-run-object-failures* + *experiment-log-current-object*) + tracked-failure-symbol)))) + *experiment-log-failures-to-count*) + (warn "Object ~a is not tracked for failures!" *experiment-log-current-object*))))) + (defun generate-empty-failure-property-list () (let (new-prop-list) @@ -295,26 +312,121 @@ *experiment-log-failures-to-count*) new-prop-list)) +(defun get-experiment-log-failures (failure-symbol &optional object-type) + (let ((failure-num + (if object-type + (getf (getf *experiment-log-current-demo-run-object-failures* + object-type) + failure-symbol) + (+ (getf (getf *experiment-log-current-demo-run-object-failures* + 'bowl) + failure-symbol) + (getf (getf *experiment-log-current-demo-run-object-failures* + 'cup) + failure-symbol) + (getf (getf *experiment-log-current-demo-run-object-failures* + 'spoon) + failure-symbol))))) + (if (eql failure-symbol 'common-fail:perception-low-level-failure) + (/ failure-num 5) + failure-num))) + +(defun get-experiment-log-transport-duration (&optional object-type) + (if object-type + (case object-type + (bowl *experiment-log-current-execution-time-bowl*) + (cup *experiment-log-current-execution-time-cup*) + (spoon *experiment-log-current-execution-time-spoon*)) + (+ *experiment-log-current-execution-time-bowl* + *experiment-log-current-execution-time-cup* + *experiment-log-current-execution-time-spoon*))) + + +(defun experiment-log-current-demo-run-failures (&optional object-type) + (let* ((searching-failures + (get-experiment-log-failures + 'common-fail:searching-failed object-type)) + (fetching-failures + (get-experiment-log-failures + 'common-fail:fetching-failed object-type)) + (delivering-failures + (get-experiment-log-failures + 'common-fail:delivering-failed object-type)) + (transporting-failed + (+ searching-failures fetching-failures delivering-failures)) + (navigation-failures + (get-experiment-log-failures + 'common-fail:navigation-low-level-failure object-type)) + (manipulation-failures + (get-experiment-log-failures + 'common-fail:manipulation-low-level-failure object-type)) + (perception-failures + (get-experiment-log-failures + 'common-fail:perception-low-level-failure object-type)) + (duration + (get-experiment-log-transport-duration object-type))) + (experiment-log (format nil "SUM,~a,~a,~a,~a,~a,~a,~a,~a" + transporting-failed + searching-failures fetching-failures delivering-failures + perception-failures navigation-failures manipulation-failures + duration)) + (when *experiment-log-detailed?* + (experiment-log (format nil "~%"))))) + + (defun experiment-log-start-demo-run () (set-experiment-log-current-demo-run) - (setf *experiment-log-current-object* "") - (experiment-log (format nil "~%~%")) + (setf *experiment-log-current-object* nil) + (if *experiment-log-detailed?* + (experiment-log (format nil "~%~%")) + (experiment-log (format nil ""))) (setf (getf *experiment-log-current-demo-run-object-failures* 'bowl) (generate-empty-failure-property-list)) (setf (getf *experiment-log-current-demo-run-object-failures* 'cup) (generate-empty-failure-property-list)) (setf (getf *experiment-log-current-demo-run-object-failures* 'spoon) - (generate-empty-failure-property-list))) + (generate-empty-failure-property-list)) + + (setf *experiment-log-current-execution-time-bowl* 0 + *experiment-log-current-execution-time-cup* 0 + *experiment-log-current-execution-time-spoon* 0)) (defun experiment-log-finish-demo-run () - (setf *experiment-log-current-object* "") + (setf *experiment-log-current-object* nil) (experiment-log-current-demo-run-failures) - (experiment-log (format nil "~%~%")) + (if *experiment-log-detailed?* + (experiment-log (format nil "~%~%")) + (experiment-log (format nil ""))) (if *kvr-enabled* (incf *experiment-log-current-demo-run-vr*) (incf *experiment-log-current-demo-run-heur*))) +(defun experiment-log-start-object-transport (object-type) + (setf *experiment-log-current-object* object-type) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* (roslisp:ros-time))) + (cup (setf *experiment-log-current-execution-time-cup* (roslisp:ros-time))) + (spoon (setf *experiment-log-current-execution-time-spoon* (roslisp:ros-time))))) + +(defun experiment-log-finish-object-transport-successful (object-type) + (when *experiment-log-detailed?* + (experiment-log (format nil "TRANSPORTING SUCCEEDED~%"))) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* + (- (roslisp:ros-time) *experiment-log-current-execution-time-bowl*))) + (cup (setf *experiment-log-current-execution-time-cup* + (- (roslisp:ros-time) *experiment-log-current-execution-time-cup*))) + (spoon (setf *experiment-log-current-execution-time-spoon* + (- (roslisp:ros-time) *experiment-log-current-execution-time-spoon*))))) + +(defun experiment-log-finish-object-transport-failed (object-type) + (when *experiment-log-detailed?* + (experiment-log (format nil "TRANSPORTING FAILED~%"))) + (case object-type + (bowl (setf *experiment-log-current-execution-time-bowl* 0)) + (cup (setf *experiment-log-current-execution-time-cup* 0)) + (spoon (setf *experiment-log-current-execution-time-spoon* 0)))) ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; END OF EXPERIMENT LOG STUFF ;;;;;;;;;;;;;;; @@ -335,12 +447,12 @@ (unwind-protect (dolist (type list-of-objects) - (setf *experiment-log-current-object* type) + (experiment-log-start-object-transport type) (cpl:with-failure-handling ((common-fail:high-level-failure (e) (declare (ignore e)) - (experiment-log (format nil "TRANSPORTING FAILED~%")) + (experiment-log-finish-object-transport-failed type) (return))) (if *kvr-enabled* @@ -397,9 +509,9 @@ (side front))) (target (desig:a location (poses ?delivering-poses))))))) - (experiment-log (format nil "TRANSPORTING SUCCEEDED~%"))) + (experiment-log-finish-object-transport-successful type)) - (experiment-log-current-object-failures)) + (experiment-log-current-demo-run-failures *experiment-log-current-object*)) (experiment-log-finish-demo-run)) From aeed180fcef0645c11805c8e05b27f990d133d40 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 00:44:09 +0100 Subject: [PATCH 05/38] [kvr] make sure EXPERIMENTS directory exists --- .../experiments/dummy-to-ensure-directory-exists-in-git | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/dummy-to-ensure-directory-exists-in-git diff --git a/cram_knowrob/cram_knowrob_vr/experiments/dummy-to-ensure-directory-exists-in-git b/cram_knowrob/cram_knowrob_vr/experiments/dummy-to-ensure-directory-exists-in-git new file mode 100644 index 0000000000..e69de29bb2 From 106556912be2bd75cb6aa84b5be8099b47a3f436 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 14:50:21 +0100 Subject: [PATCH 06/38] [vis-cm] fixes for recent visibility desig changes --- .../src/location-designator-facts.lisp | 29 ++++++++++++------- 1 file changed, 18 insertions(+), 11 deletions(-) diff --git a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp index 9d9a8f95e3..0c6124e100 100644 --- a/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp +++ b/cram_3d_world/cram_btr_visibility_costmap/src/location-designator-facts.lisp @@ -94,21 +94,28 @@ (location-visibility-costmap ?designator ?costmap)))) (<- (desig-check-to-see ?desig ?robot-pose) - (desig:desig-prop ?desig (:object ?obj)) - (desig:desig-location-prop ?desig ?obj-pose) - (btr:bullet-world ?w) - (cram-robot-interfaces:robot ?robot) - (assert (btr:object-pose ?w ?robot ?robot-pose)) - (btr:object-not-in-collision ?w ?robot) - (cram-robot-interfaces:camera-frame ?robot ?cam-frame) - (btr:head-pointing-at ?w ?robot ?obj-pose) - (-> (btr:object ?w ?obj) - (btr:visible ?w ?robot ?obj) + ;; (desig:desig-prop ?desig (:object ?obj)) + ;; (desig:desig-location-prop ?desig ?obj-pose) + (desig:desig-prop ?desig (:object ?some-object)) + (desig:current-designator ?some-object ?object) + (lisp-fun man-int:get-object-pose-in-map ?object ?to-see-pose) + (-> (lisp-pred identity ?to-see-pose) + (and (btr:bullet-world ?w) + (cram-robot-interfaces:robot ?robot) + (assert (btr:object-pose ?w ?robot ?robot-pose)) + (btr:object-not-in-collision ?w ?robot) + (cram-robot-interfaces:camera-frame ?robot ?cam-frame) + (btr:head-pointing-at ?w ?robot ?to-see-pose) + (desig:desig-prop ?object (:name ?object-name)) + (-> (btr:object ?w ?object-name) + (btr:visible ?w ?robot ?object-name) + (true))) (true))) (<- (location-valid ?desig ?pose (desig-check-to-see ?desig ?pose)) (cram-robot-interfaces:visibility-designator ?desig) - (desig:desig-prop ?desig (:object ?obj))) + (or (desig:desig-prop ?desig (:object ?obj)) + (true))) (<- (btr-desig-solution-valid ?desig ?solution) (btr-desig-solution-valid ?desig ?solution ?_)) From 1003120f01190a23f0ee099fecc6d95d4c3554c9 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 21:05:29 +0100 Subject: [PATCH 07/38] [kvr] relative pose scaling --- cram_knowrob/cram_knowrob_vr/src/queries.lisp | 36 +++++---- .../src/query-based-calculations.lisp | 78 +++++++++++-------- 2 files changed, 65 insertions(+), 49 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/queries.lisp b/cram_knowrob/cram_knowrob_vr/src/queries.lisp index 7b1a0b0902..1b331ffa19 100644 --- a/cram_knowrob/cram_knowrob_vr/src/queries.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/queries.lisp @@ -328,7 +328,7 @@ and the transform surface-T-object as a lazy list of pairs: -(defun query-surface-name-dim-transform-and-object-transform-by-object-type +(defun query-surface-name-dim-and-surface-T-object-by-object-type (object-type start-or-end &optional context) (declare (type string object-type start-or-end) (type (or null keyword) context)) @@ -338,20 +338,26 @@ and the transform surface-T-object as a lazy list of pairs: (assert (or (equal start-or-end "Start") (equal start-or-end "End"))) (cut:lazy-mapcar (lambda (binding-set) - (let ((surface-name - (cut:var-value '|?SurfaceTypeShortName| binding-set)) - (surface-dim - (cl-transforms:make-3d-vector - (cut:var-value '|?SurfaceDimX| binding-set) - (cut:var-value '|?SurfaceDimY| binding-set) - (cut:var-value '|?SurfaceDimZ| binding-set))) - (map-T-surface - (cram-tf:flat-list->transform - (cut:var-value '|?SurfacePose| binding-set))) - (map-T-object - (cram-tf:flat-list->transform - (cut:var-value '|?ObjectPose| binding-set)))) - (list surface-name surface-dim map-T-surface map-T-object))) + (let* ((surface-name + (cut:var-value '|?SurfaceTypeShortName| binding-set)) + (surface-dim + (cl-transforms:make-3d-vector + (cut:var-value '|?SurfaceDimX| binding-set) + (cut:var-value '|?SurfaceDimY| binding-set) + (cut:var-value '|?SurfaceDimZ| binding-set))) + (map-T-object + (cram-tf:flat-list->transform + (cut:var-value '|?ObjectPose| binding-set))) + (map-T-surface + (cram-tf:flat-list->transform + (cut:var-value '|?SurfacePose| binding-set))) + (surface-T-map + (cl-transforms:transform-inv + map-T-surface)) + (surface-T-object + (cl-transforms:transform* + surface-T-map map-T-object))) + (list surface-name surface-dim surface-T-object))) (json-prolog:prolog-simple (concatenate 'string diff --git a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp index 6614cfe60d..01bb81d0ed 100644 --- a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp @@ -80,37 +80,45 @@ RETURNS: A pose stamped for the robot base." "Calculates the pose of the object in map relative to its supporting surface. Formula: umap-T-uobj = umap-T-usurface * inv(smap-T-ssurface) * smap-T-sobj. `type' is a simple symbol such as 'milk." - (let ((name-and-surface-T-object-ll - (query-name-and-surface-T-object-by-object-type - (object-type-filter-prolog type) - start-or-end - :table-setting))) + (let ((name-dim-and-surface-T-object-ll + (query-surface-name-dim-and-surface-T-object-by-object-type + (object-type-filter-prolog type) + start-or-end + :table-setting))) (cut:lazy-mapcar - (lambda (name-and-surface-T-object) - (let* ((surface-name - (car name-and-surface-T-object)) - (ssurface-T-sobject - (cdr name-and-surface-T-object)) - (umap-T-usurface - (cl-transforms:pose->transform - (btr:pose + (lambda (name-dim-and-surface-T-object) + (print name-dim-and-surface-T-object) + (destructuring-bind (surface-name ssurface-dimensions ssurface-T-sobject) + name-dim-and-surface-T-object + (let* ((usurface-object (btr:rigid-body (btr:get-environment-object) - (match-kitchens surface-name))))) - (umap-T-uobj - (cl-transforms:transform* - umap-T-usurface ssurface-T-sobject))) - (cl-transforms-stamped:make-pose-stamped - cram-tf:*fixed-frame* - 0.0 - (cl-transforms:translation umap-T-uobj) - (cl-transforms:rotation umap-T-uobj)))) - name-and-surface-T-object-ll))) - - - - - + (match-kitchens surface-name))) + (usurface-dimensions + (btr:calculate-bb-dims usurface-object)) + (scale-vector + ;; uncomment this instead if you want to turn off scaling + ;; (cl-transforms:make-3d-vector 1 1 1) + (cl-transforms:v/-pairwise + usurface-dimensions ssurface-dimensions)) + (scaled-ssurface-T-sobject + (cl-transforms:copy-transform + ssurface-T-sobject + :translation (cl-transforms:v*-pairwise + (cl-transforms:translation ssurface-T-sobject) + scale-vector))) + (umap-T-usurface + (cl-transforms:pose->transform + (btr:pose usurface-object))) + (umap-T-uobj + (cl-transforms:transform* + umap-T-usurface scaled-ssurface-T-sobject))) + (cl-transforms-stamped:make-pose-stamped + cram-tf:*fixed-frame* + 0.0 + (cl-transforms:translation umap-T-uobj) + (cl-transforms:rotation umap-T-uobj))))) + name-dim-and-surface-T-object-ll))) @@ -177,16 +185,16 @@ The function returns one of the following keys: :front, :back, :left, :right." ;; first find in which quarter of supp obj it is and then compare the 2 edges (let (pred-x pred-y) (ecase quarter - (:back-left ; obj.x > 0, obj.y > 0 + (:back-left ; obj.x > 0, obj.y > 0 (setf pred-x #'- pred-y #'-)) - (:back-right ; obj.y < 0 + (:back-right ; obj.y < 0 (setf pred-x #'- pred-y #'+)) - (:front-left ; obj.x < 0 + (:front-left ; obj.x < 0 (setf pred-x #'+ pred-y #'-)) - (:front-right ; obj.x < 0 and obj.y < 0 + (:front-right ; obj.x < 0 and obj.y < 0 (setf pred-x #'+ pred-y #'+))) (multiple-value-bind (condition distance) @@ -211,7 +219,7 @@ Formula: umap-T-uobj = umap-T-usurface * ssurface-T-obj = umap-T-usurface * inv(smap-T-ssurface) * smap-T-sobj. `type' is a simple symbol such as 'milk." (let ((surface-name-dim-transform-and-object-transform-ll - (query-surface-name-dim-transform-and-object-transform-by-object-type + (query-surface-name-dim-and-surface-T-object-by-object-type (object-type-filter-prolog type) start-or-end :table-setting))) @@ -384,7 +392,9 @@ Formula: umap-T-ucamera = umap-T-uobj * inv(smap-T-sobj) * smap-T-scamera (defun object-poses-ll-for-placing (type) - (umap-P-uobj-through-surface-edge-ll type "End")) + (umap-P-uobj-through-surface-ll type "End") + ;; (umap-P-uobj-through-surface-edge-ll type "End") + ) (defun arms-for-fetching-ll (type) From 0a60da54c51eb5c166aae44405295b415f450def Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 21:05:49 +0100 Subject: [PATCH 08/38] [kvr] Alina's cute arrow spawning function --- .../cram_knowrob_vr/src/debugging-utils.lisp | 44 ++++++++++++++----- 1 file changed, 33 insertions(+), 11 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp index 2baf3a4940..6b4a0b2a21 100644 --- a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp @@ -266,18 +266,40 @@ Returns: list of cl-tf:pose." (dolist (pose list) (spawn-btr-arrow pose (arrow-prefix) '(0 0 1)))) -(defun spawn-visibility-arrows (pose-stamped-list &optional desig-color) - "spawns arrows according to the ?visibility or ?reachability lists. +(defun spawn-arrows (pose-stamped-list &optional (desig-color 'vis)) + "spawns arrows according to the ?visibility or ?reachability lists. `pose-stamped-list' is the given ?visibility or ?reachability list. `desig-color' can be set to 'vis or 'reach depending on which list it is. 'vis arrows = dark green 'reach arrows = dark blue" - (let ((poses-list (convert-into-poses-list (car pose-stamped-list))) - (color (cond ((eq desig-color 'vis) - '(1.0 0.6 0.0)) - ((eq desig-color 'reach) - '(0 0 0.5)) - ((eq desig-color 'del) - '(0 0.5 0.7))))) - (dolist (pose poses-list) - (spawn-btr-arrow pose (arrow-prefix) color)))) + (let ((poses-list (convert-into-poses-list (cut:force-ll +pose-stamped-list))) + (color (cond ((eq desig-color 'vis) + '(1.0 0.6 0.0)) + ((eq desig-color 'reach) + '(0 0 0.5)) + ((eq desig-color 'del) + '(0 0.5 0.7))))) + (dolist (pose poses-list) + (spawn-btr-arrow pose (arrow-prefix) color)))) + +(defun spawn-all-arrows (type &optional (obj-pose (cl-transforms:make-identity-pose))) + "type should be 'cup 'bowl or 'spoon" + ;; kill all possibly existing objects/arrows + (btr-utils:kill-all-objects) + ;; search poses + (spawn-arrows + (look-poses-ll-for-searching type)) + ;; search base poses + (spawn-arrows + (base-poses-ll-for-searching (object-type-filter-prolog type)) 'vis) + ;; fetch base poses + (spawn-arrows + (base-poses-ll-for-fetching-based-on-object-pose + (object-type-filter-bullet type) obj-pose) 'reach) + ;; target poses on table + (spawn-arrows + (object-poses-ll-for-placing (object-type-filter-prolog type)) 'reach) + ;; deliver base poses + (spawn-arrows + (base-poses-ll-for-placing type) 'del )) From cf654a70fc9697aeebb3c0238b826d15cfec5dbb Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 21:06:05 +0100 Subject: [PATCH 09/38] [kvr] loading the new data --- cram_knowrob/cram_knowrob_vr/src/init.lisp | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/init.lisp b/cram_knowrob/cram_knowrob_vr/src/init.lisp index db9eec4d5c..9db3b6477f 100644 --- a/cram_knowrob/cram_knowrob_vr/src/init.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/init.lisp @@ -147,15 +147,25 @@ semantic map kitchen." "Spawns all the objects which are necessary for the current scenario (Meaning: Kitchen, Robot, Muesli, Milk, Cup, Bowl, Fork and 3 Axis objects for debugging." - ;;set the "unreal" prefix for the json_prolog node if you are using the simulation.launch + ;; set the "unreal" prefix for the json_prolog node if we are running on a robot + ;; and don't want to interfere with its KnowRob + ;; we'll have our own KnowRob, with blackjack (setq json-prolog:*service-namespace* "/unreal/json_prolog") + (roslisp-utilities:startup-ros) (coe:clear-belief) + + (cram-bullet-reasoning:clear-costmap-vis-object) + (spawn-urdf-items) (init-episode (or namedir - (loop for i from 1 to 18 collecting (format nil "ep~a" i)))) + ;; (loop for i from 1 to 18 collecting (format nil "ep~a" i)) + '("exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" + ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" + ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" + ))) ;; (spawn-semantic-map) ;; (spawn-semantic-items) From e3eaef2f5632c87ef2b96ecffd20b5a239083be6 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Fri, 6 Dec 2019 14:49:18 +0100 Subject: [PATCH 10/38] [kvr] minor logging stuff --- .../src/fetch-and-deliver-based-demo.lisp | 155 +++++++++--------- 1 file changed, 77 insertions(+), 78 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index d06698832b..6561b06428 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -256,13 +256,13 @@ (defun find-experiment-log-last-current-demo-run (&key vr?) (let ((last-line - (read-last-line - (format nil "~a_~a~a" - *experiment-log-filename* - (if vr? - "VR" - "HEUR") - *experiment-log-extension*)))) + (read-last-line + (format nil "~a_~a~a" + *experiment-log-filename* + (if vr? + "VR" + "HEUR") + *experiment-log-extension*)))) (if last-line (let ((last-current-demo-run (read-from-string (first (split-sequence:split-sequence #\, last-line))))) @@ -365,7 +365,7 @@ 'common-fail:perception-low-level-failure object-type)) (duration (get-experiment-log-transport-duration object-type))) - (experiment-log (format nil "SUM,~a,~a,~a,~a,~a,~a,~a,~a" + (experiment-log (format nil "SUM,~a,~a,~a,~a,~a,~a,~a,~f" transporting-failed searching-failures fetching-failures delivering-failures perception-failures navigation-failures manipulation-failures @@ -444,76 +444,75 @@ (spawn-objects-on-sink-counter)) (park-robot) - (unwind-protect - (dolist (type list-of-objects) - - (experiment-log-start-object-transport type) - - (cpl:with-failure-handling - ((common-fail:high-level-failure (e) - (declare (ignore e)) - (experiment-log-finish-object-transport-failed type) - (return))) - - (if *kvr-enabled* - - (let* ((?bullet-type - (object-type-filter-bullet type)) - (?search-poses - (alexandria:shuffle - (cut:force-ll (look-poses-ll-for-searching type)))) - (?grasps - (alexandria:shuffle - (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)))) - (?arms - (alexandria:shuffle - '(:left :right) ;; (cut:force-ll (arms-for-fetching-ll type)) - )) - (?delivering-poses - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type *object-delivering-poses*))))) - ;; (alexandria:shuffle - ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO - )) - - (exe:perform - (desig:an action - (type transporting) - (object (desig:an object (type ?bullet-type))) - (location (desig:a location (poses ?search-poses))) - (arms ?arms) - (grasps ?grasps) - (target (desig:a location (poses ?delivering-poses)))))) - - (let ((?bullet-type - (object-type-filter-bullet type)) - (?arms - (alexandria:shuffle '(:left :right))) - (?delivering-poses - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type *object-delivering-poses*))))))) - - (exe:perform - (desig:an action - (type transporting) - (object (desig:an object (type ?bullet-type))) - (location (desig:a location - (on (desig:an object - (type counter-top) - (urdf-name sink-area-surface) - (part-of kitchen))) - (side front))) - (target (desig:a location (poses ?delivering-poses))))))) - - (experiment-log-finish-object-transport-successful type)) - - (experiment-log-current-demo-run-failures *experiment-log-current-object*)) - - (experiment-log-finish-demo-run)) + (dolist (type list-of-objects) + + (experiment-log-start-object-transport type) + + (cpl:with-failure-handling + ((common-fail:high-level-failure (e) + (declare (ignore e)) + (experiment-log-finish-object-transport-failed type) + (return))) + + (if *kvr-enabled* + + (let* ((?bullet-type + (object-type-filter-bullet type)) + (?search-poses + (alexandria:shuffle + (cut:force-ll (look-poses-ll-for-searching type)))) + (?grasps + (alexandria:shuffle + (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)))) + (?arms + (alexandria:shuffle + '(:left :right) ;; (cut:force-ll (arms-for-fetching-ll type)) + )) + (?delivering-poses + (list (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr (assoc type *object-delivering-poses*))))) + ;; (alexandria:shuffle + ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO + )) + + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?bullet-type))) + (location (desig:a location (poses ?search-poses))) + (arms ?arms) + (grasps ?grasps) + (target (desig:a location (poses ?delivering-poses)))))) + + (let ((?bullet-type + (object-type-filter-bullet type)) + (?arms + (alexandria:shuffle '(:left :right))) + (?delivering-poses + (list (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr (assoc type *object-delivering-poses*))))))) + + (exe:perform + (desig:an action + (type transporting) + (object (desig:an object (type ?bullet-type))) + (location (desig:a location + (on (desig:an object + (type counter-top) + (urdf-name sink-area-surface) + (part-of kitchen))) + (side front))) + (target (desig:a location (poses ?delivering-poses))))))) + + (experiment-log-finish-object-transport-successful type)) + + (experiment-log-current-demo-run-failures *experiment-log-current-object*)) + + (experiment-log-finish-demo-run) (park-robot) From 57b75e7f3246d183f6b461e31bef4c6c82a67e48 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Fri, 6 Dec 2019 16:02:34 +0100 Subject: [PATCH 11/38] [kvr exp] added experiment data PR2 heuristics --- .../experiments/heuristics_pr2_failures.csv | 1203 +++++++++++++++++ 1 file changed, 1203 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv new file mode 100644 index 0000000000..ac76a60080 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv @@ -0,0 +1,1203 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,16,0,0,16.0908989906 +0,CUP,SUM,1,0,0,1,0,0,11,0 +0,SPOON,SUM,1,0,1,0,0,5,44,0 +0,,SUM,2,0,1,1,16,5,55,16.0908989906 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,8,1,13,13.5569479465 +1,CUP,SUM,0,0,0,0,16,2,14,15.1056079865 +1,SPOON,SUM,0,0,0,0,0,0,0,9.9465920925 +1,,SUM,0,0,0,0,24,3,27,38.6091480255 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,1,0,1,0,0,1,44,0 +2,CUP,SUM,1,0,0,1,0,5,32,0 +2,SPOON,SUM,0,0,0,0,0,0,9,11.9806311131 +2,,SUM,2,0,1,1,0,6,85,11.9806311131 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,0,0,0,0,0,0,4,7.8048260212 +3,CUP,SUM,0,0,0,0,0,1,11,6.6010439396 +3,SPOON,SUM,0,0,0,0,0,0,0,10.4570579529 +3,,SUM,0,0,0,0,0,1,15,24.8629279137 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,0,0,0,0,0,1,4,7.902613163 +4,CUP,SUM,1,0,0,1,16,0,12,0 +4,SPOON,SUM,0,0,0,0,0,2,20,13.772217989 +4,,SUM,1,0,0,1,16,3,36,21.674831152 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,0,0,0,0,24,4,36,24.1229500771 +5,CUP,SUM,0,0,0,0,0,0,2,4.5270810127 +5,SPOON,SUM,0,0,0,0,0,0,7,12.2756679058 +5,,SUM,0,0,0,0,24,4,45,40.9256989956 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,0,0,0,0,8,2,13,12.9568269253 +6,CUP,SUM,1,0,0,1,0,0,11,0 +6,SPOON,SUM,0,0,0,0,0,0,5,11.7542731762 +6,,SUM,1,0,0,1,8,2,29,24.7111001015 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,0,0,0,0,44,2,9,27.55534482 +7,CUP,SUM,0,0,0,0,24,3,10,16.7267870903 +7,SPOON,SUM,1,0,1,0,8,3,44,0 +7,,SUM,1,0,1,0,76,8,63,44.2821319103 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,1,0,1,0,24,4,44,0 +8,CUP,SUM,1,0,0,1,0,1,18,0 +8,SPOON,SUM,0,0,0,0,0,1,8,11.8552091122 +8,,SUM,2,0,1,1,24,6,70,11.8552091122 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,0,0,0,0,0,0,5,8.5220751762 +9,CUP,SUM,1,0,0,1,0,2,11,0 +9,SPOON,SUM,0,0,0,0,8,1,1,13.6455879211 +9,,SUM,1,0,0,1,8,3,17,22.1676630974 +9,,,,,,,,,, +10,,,,,,,,,, +10,BOWL,SUM,0,0,0,0,0,3,32,13.3466501236 +10,CUP,SUM,1,0,0,1,0,0,11,0 +10,SPOON,SUM,0,0,0,0,16,0,5,18.4817039967 +10,,SUM,1,0,0,1,16,3,48,31.8283541203 +10,,,,,,,,,, +11,,,,,,,,,, +11,BOWL,SUM,0,0,0,0,8,7,32,16.2029840946 +11,CUP,SUM,0,0,0,0,0,3,16,10.1003251076 +11,SPOON,SUM,0,0,0,0,0,2,16,13.2082059383 +11,,SUM,0,0,0,0,8,12,64,39.5115151405 +11,,,,,,,,,, +12,,,,,,,,,, +12,BOWL,SUM,0,0,0,0,0,0,8,8.357074976 +12,CUP,SUM,1,0,0,1,0,0,17,0 +12,SPOON,SUM,0,0,0,0,8,5,24,17.9342930317 +12,,SUM,1,0,0,1,8,5,49,26.2913680077 +12,,,,,,,,,, +13,,,,,,,,,, +13,BOWL,SUM,0,0,0,0,0,1,12,9.102337122 +13,CUP,SUM,0,0,0,0,8,0,2,8.3139820099 +13,SPOON,SUM,0,0,0,0,0,5,32,16.4842641354 +13,,SUM,0,0,0,0,8,6,46,33.9005832672 +13,,,,,,,,,, +14,,,,,,,,,, +14,BOWL,SUM,0,0,0,0,16,4,0,14.2003099918 +14,CUP,SUM,1,0,0,1,0,0,17,0 +14,SPOON,SUM,0,0,0,0,8,1,1,14.8334131241 +14,,SUM,1,0,0,1,24,5,18,29.0337231159 +14,,,,,,,,,, +15,,,,,,,,,, +15,BOWL,SUM,1,0,1,0,0,5,44,0 +15,CUP,SUM,1,0,0,1,32,0,17,0 +15,SPOON,SUM,0,0,0,0,12,0,12,17.5370099545 +15,,SUM,2,0,1,1,44,5,73,17.5370099545 +15,,,,,,,,,, +16,,,,,,,,,, +16,BOWL,SUM,0,0,0,0,0,0,1,7.8193941116 +16,CUP,SUM,1,0,0,1,8,4,35,0 +16,SPOON,SUM,0,0,0,0,0,0,9,12.7784059048 +16,,SUM,1,0,0,1,8,4,45,20.5978000164 +16,,,,,,,,,, +17,,,,,,,,,, +17,BOWL,SUM,0,0,0,0,0,0,1,7.7409598827 +17,CUP,SUM,1,0,1,0,0,4,25,0 +17,SPOON,SUM,0,0,0,0,8,3,28,19.6595950127 +17,,SUM,1,0,1,0,8,7,54,27.4005548954 +17,,,,,,,,,, +18,BOWL,SUM,0,0,0,0,0,0,5,7.9468929768 +18,CUP,SUM,0,0,0,0,0,1,6,4.7033939362 +18,SPOON,SUM,0,0,0,0,0,1,13,12.8126540184 +18,,SUM,0,0,0,0,0,2,24,25.4629409313 +18,,,,,,,,,, +18,,,,,,,,,, +19,BOWL,SUM,0,0,0,0,0,0,21,10.5336260796 +19,CUP,SUM,0,0,0,0,32,1,6,19.4816849232 +19,SPOON,SUM,0,0,0,0,8,2,15,16.6754469872 +19,,SUM,0,0,0,0,40,3,42,46.6907579899 +19,,,,,,,,,, +19,,,,,,,,,, +20,BOWL,SUM,0,0,0,0,8,0,0,10.5921700001 +20,CUP,SUM,1,0,0,1,8,1,17,0 +20,SPOON,SUM,1,0,1,0,0,6,44,0 +20,,SUM,2,0,1,1,16,7,61,10.5921700001 +20,,,,,,,,,, +20,,,,,,,,,, +21,BOWL,SUM,0,0,0,0,0,0,4,8.0128669739 +21,CUP,SUM,1,0,0,1,0,0,11,0 +21,SPOON,SUM,0,0,0,0,8,1,0,14.2866690159 +21,,SUM,1,0,0,1,8,1,15,22.2995359898 +21,,,,,,,,,, +21,,,,,,,,,, +22,BOWL,SUM,0,0,0,0,0,1,8,9.1596682072 +22,CUP,SUM,1,0,0,1,0,0,11,0 +22,SPOON,SUM,1,0,1,0,0,7,44,0 +22,,SUM,2,0,1,1,0,8,63,9.1596682072 +22,,,,,,,,,, +22,,,,,,,,,, +23,BOWL,SUM,0,0,0,0,0,0,0,7.5834739208 +23,CUP,SUM,1,0,0,1,8,0,11,0 +23,SPOON,SUM,0,0,0,0,0,1,11,13.3500390053 +23,,SUM,1,0,0,1,8,1,22,20.9335129261 +23,,,,,,,,,, +23,,,,,,,,,, +24,BOWL,SUM,0,0,0,0,0,2,12,9.1711261272 +24,CUP,SUM,1,0,0,1,0,1,11,0 +24,SPOON,SUM,0,0,0,0,0,2,13,12.9868779182 +24,,SUM,1,0,0,1,0,5,36,22.1580040455 +24,,,,,,,,,, +24,,,,,,,,,, +25,BOWL,SUM,1,0,1,0,0,2,44,0 +25,CUP,SUM,1,0,0,1,8,1,12,0 +25,SPOON,SUM,0,0,0,0,0,0,1,10.6138269901 +25,,SUM,2,0,1,1,8,3,57,10.6138269901 +25,,,,,,,,,, +25,,,,,,,,,, +26,BOWL,SUM,0,0,0,0,8,5,14,14.2087850571 +26,CUP,SUM,1,0,0,1,6,1,17,0 +26,SPOON,SUM,0,0,0,0,0,0,20,14.3131599426 +26,,SUM,1,0,0,1,14,6,51,28.5219449997 +26,,,,,,,,,, +26,,,,,,,,,, +27,BOWL,SUM,1,0,1,0,0,4,44,0 +27,CUP,SUM,0,0,0,0,44,5,67,31.4812760353 +27,SPOON,SUM,0,0,0,0,0,1,16,13.5532569885 +27,,SUM,1,0,1,0,44,10,127,45.0345330238 +27,,,,,,,,,, +27,,,,,,,,,, +28,BOWL,SUM,0,0,0,0,16,0,0,14.9937460423 +28,CUP,SUM,1,0,0,1,0,0,15,0 +28,SPOON,SUM,1,0,1,0,0,3,44,0 +28,,SUM,2,0,1,1,16,3,59,14.9937460423 +28,,,,,,,,,, +28,,,,,,,,,, +29,BOWL,SUM,0,0,0,0,0,0,1,8.0499680042 +29,CUP,SUM,1,0,0,1,0,0,11,0 +29,SPOON,SUM,0,0,0,0,0,1,12,12.8911111355 +29,,SUM,1,0,0,1,0,1,24,20.9410791397 +29,,,,,,,,,, +29,,,,,,,,,, +30,BOWL,SUM,0,0,0,0,0,2,0,7.3274409771 +30,CUP,SUM,1,0,0,1,0,0,11,0 +30,SPOON,SUM,0,0,0,0,0,2,20,14.8593699932 +30,,SUM,1,0,0,1,0,4,31,22.1868109703 +30,,,,,,,,,, +30,,,,,,,,,, +31,BOWL,SUM,0,0,0,0,8,5,36,17.2517809868 +31,CUP,SUM,1,0,0,1,0,0,18,0 +31,SPOON,SUM,0,0,0,0,8,0,1,14.5215251446 +31,,SUM,1,0,0,1,16,5,55,31.7733061314 +31,,,,,,,,,, +31,,,,,,,,,, +32,BOWL,SUM,0,0,0,0,8,1,20,14.5430059433 +32,CUP,SUM,0,0,0,0,0,6,16,10.5946850777 +32,SPOON,SUM,0,0,0,0,0,0,4,11.1537828445 +32,,SUM,0,0,0,0,8,7,40,36.2914738655 +32,,,,,,,,,, +32,,,,,,,,,, +33,BOWL,SUM,0,0,0,0,0,1,8,8.7054278851 +33,CUP,SUM,1,0,0,1,12,0,19,0 +33,SPOON,SUM,0,0,0,0,0,0,4,11.2080450058 +33,,SUM,1,0,0,1,12,1,31,19.9134728909 +33,,,,,,,,,, +33,,,,,,,,,, +34,BOWL,SUM,0,0,0,0,0,1,18,10.2658150196 +34,CUP,SUM,1,0,0,1,0,3,11,0 +34,SPOON,SUM,0,0,0,0,0,3,16,13.5303990841 +34,,SUM,1,0,0,1,0,7,45,23.7962141037 +34,,,,,,,,,, +34,,,,,,,,,, +35,BOWL,SUM,0,0,0,0,12,2,34,18.2723309994 +35,CUP,SUM,0,0,0,0,0,3,8,5.1405959129 +35,SPOON,SUM,0,0,0,0,0,5,4,11.7703728676 +35,,SUM,0,0,0,0,12,10,46,35.1832997799 +35,,,,,,,,,, +35,,,,,,,,,, +36,BOWL,SUM,0,0,0,0,0,0,5,9.213654995 +36,CUP,SUM,0,0,0,0,8,0,15,12.4043228626 +36,SPOON,SUM,0,0,0,0,0,4,17,14.6642260551 +36,,SUM,0,0,0,0,8,4,37,36.2822039127 +36,,,,,,,,,, +36,,,,,,,,,, +37,BOWL,SUM,0,0,0,0,8,1,20,14.9099128246 +37,CUP,SUM,0,0,0,0,8,0,13,11.3325939178 +37,SPOON,SUM,0,0,0,0,0,1,4,11.6810569763 +37,,SUM,0,0,0,0,16,2,37,37.9235637188 +37,,,,,,,,,, +37,,,,,,,,,, +38,BOWL,SUM,0,0,0,0,0,0,1,7.8724060059 +38,CUP,SUM,0,0,0,0,24,0,14,20.1030390263 +38,SPOON,SUM,0,0,0,0,0,0,4,11.067081213 +38,,SUM,0,0,0,0,24,0,19,39.0425262451 +38,,,,,,,,,, +38,,,,,,,,,, +39,BOWL,SUM,0,0,0,0,0,1,0,7.417301178 +39,CUP,SUM,1,0,0,1,0,2,11,0 +39,SPOON,SUM,0,0,0,0,0,1,9,12.2423779964 +39,,SUM,1,0,0,1,0,4,20,19.6596791744 +39,,,,,,,,,, +39,,,,,,,,,, +40,BOWL,SUM,0,0,0,0,16,1,0,14.2166690826 +40,CUP,SUM,1,0,0,1,16,0,11,0 +40,SPOON,SUM,0,0,0,0,8,0,1,13.9622790813 +40,,SUM,1,0,0,1,40,1,12,28.178948164 +40,,,,,,,,,, +40,,,,,,,,,, +41,BOWL,SUM,0,0,0,0,0,0,6,8.3873791695 +41,CUP,SUM,0,0,0,0,0,0,6,4.7343769073 +41,SPOON,SUM,0,0,0,0,24,3,21,25.7377250195 +41,,SUM,0,0,0,0,24,3,33,38.8594810963 +41,,,,,,,,,, +41,,,,,,,,,, +42,BOWL,SUM,0,0,0,0,0,1,16,10.0478510857 +42,CUP,SUM,1,0,0,1,0,1,11,0 +42,SPOON,SUM,0,0,0,0,16,0,4,18.7537460327 +42,,SUM,1,0,0,1,16,2,31,28.8015971184 +42,,,,,,,,,, +42,,,,,,,,,, +43,BOWL,SUM,0,0,0,0,0,1,12,9.0865368843 +43,CUP,SUM,0,0,0,0,12,4,19,15.5288248062 +43,SPOON,SUM,0,0,0,0,0,0,3,11.1328909397 +43,,SUM,0,0,0,0,12,5,34,35.7482526302 +43,,,,,,,,,, +43,,,,,,,,,, +44,BOWL,SUM,0,0,0,0,8,0,2,11.315237999 +44,CUP,SUM,0,0,0,0,0,1,4,4.651941061 +44,SPOON,SUM,0,0,0,0,0,1,13,12.8725280762 +44,,SUM,0,0,0,0,8,2,19,28.8397071362 +44,,,,,,,,,, +44,,,,,,,,,, +45,BOWL,SUM,0,0,0,0,0,1,13,9.5758650303 +45,CUP,SUM,0,0,0,0,0,0,4,5.0230879784 +45,SPOON,SUM,0,0,0,0,0,2,18,14.3156619072 +45,,SUM,0,0,0,0,0,3,35,28.9146149158 +45,,,,,,,,,, +45,,,,,,,,,, +46,BOWL,SUM,0,0,0,0,0,0,0,7.5921308994 +46,CUP,SUM,1,0,0,1,0,0,12,0 +46,SPOON,SUM,0,0,0,0,0,3,32,16.3581438065 +46,,SUM,1,0,0,1,0,3,44,23.9502747059 +46,,,,,,,,,, +46,,,,,,,,,, +47,BOWL,SUM,0,0,0,0,48,0,4,29.631978035 +47,CUP,SUM,1,0,0,1,0,0,19,0 +47,SPOON,SUM,0,0,0,0,0,3,9,12.4314539433 +47,,SUM,1,0,0,1,48,3,32,42.0634319782 +47,,,,,,,,,, +47,,,,,,,,,, +48,BOWL,SUM,0,0,0,0,0,0,0,7.4364180565 +48,CUP,SUM,1,0,0,1,0,1,11,0 +48,SPOON,SUM,0,0,0,0,16,1,5,18.74137187 +48,,SUM,1,0,0,1,16,2,16,26.1777899265 +48,,,,,,,,,, +48,,,,,,,,,, +49,BOWL,SUM,0,0,0,0,0,0,1,7.7798500061 +49,CUP,SUM,0,0,0,0,8,0,8,8.7965669632 +49,SPOON,SUM,0,0,0,0,0,0,0,10.2725379467 +49,,SUM,0,0,0,0,8,0,9,26.848954916 +49,,,,,,,,,, +49,,,,,,,,,, +50,BOWL,SUM,0,0,0,0,16,0,0,14.5628221035 +50,CUP,SUM,1,0,0,1,0,6,47,0 +50,SPOON,SUM,0,0,0,0,0,2,24,14.5269141197 +50,,SUM,1,0,0,1,16,8,71,29.0897362232 +50,,,,,,,,,, +50,,,,,,,,,, +51,BOWL,SUM,0,0,0,0,0,2,12,9.6157450676 +51,CUP,SUM,1,0,0,1,0,1,11,0 +51,SPOON,SUM,0,0,0,0,0,2,33,16.8213160038 +51,,SUM,1,0,0,1,0,5,56,26.4370610714 +51,,,,,,,,,, +51,,,,,,,,,, +52,BOWL,SUM,0,0,0,0,8,0,0,11.4475929737 +52,CUP,SUM,1,0,0,1,0,0,11,0 +52,SPOON,SUM,0,0,0,0,8,0,1,14.8031470776 +52,,SUM,1,0,0,1,16,0,12,26.2507400513 +52,,,,,,,,,, +52,,,,,,,,,, +53,BOWL,SUM,0,0,0,0,0,0,1,7.6924679279 +53,CUP,SUM,0,0,0,0,0,0,14,9.8666980267 +53,SPOON,SUM,0,0,0,0,8,0,8,16.4037489891 +53,,SUM,0,0,0,0,8,0,23,33.9629149437 +53,,,,,,,,,, +53,,,,,,,,,, +54,BOWL,SUM,1,0,1,0,0,1,44,0 +54,CUP,SUM,0,0,0,0,0,1,8,6.5134541988 +54,SPOON,SUM,0,0,0,0,8,0,7,18.5083880425 +54,,SUM,1,0,1,0,8,2,59,25.0218422413 +54,,,,,,,,,, +54,,,,,,,,,, +55,BOWL,SUM,0,0,0,0,0,1,3,8.4696469307 +55,CUP,SUM,0,0,0,0,0,0,2,4.7757558823 +55,SPOON,SUM,0,0,0,0,8,2,22,19.5132780075 +55,,SUM,0,0,0,0,8,3,27,32.7586808205 +55,,,,,,,,,, +55,,,,,,,,,, +56,BOWL,SUM,0,0,0,0,0,3,20,10.9438450336 +56,CUP,SUM,0,0,0,0,0,1,10,7.2538809776 +56,SPOON,SUM,0,0,0,0,0,0,8,12.7890999317 +56,,SUM,0,0,0,0,0,4,38,30.986825943 +56,,,,,,,,,, +56,,,,,,,,,, +57,BOWL,SUM,1,0,1,0,0,7,44,0 +57,CUP,SUM,1,0,0,1,0,1,26,0 +57,SPOON,SUM,0,0,0,0,8,3,28,18.829777956 +57,,SUM,2,0,1,1,8,11,98,18.829777956 +57,,,,,,,,,, +57,,,,,,,,,, +58,BOWL,SUM,0,0,0,0,0,1,12,8.9016320705 +58,CUP,SUM,0,0,0,0,0,0,14,8.6314549446 +58,SPOON,SUM,0,0,0,0,0,0,2,10.6147549152 +58,,SUM,0,0,0,0,0,1,28,28.1478419304 +58,,,,,,,,,, +58,,,,,,,,,, +59,BOWL,SUM,0,0,0,0,0,0,5,7.9928691387 +59,CUP,SUM,0,0,0,0,0,1,6,4.5234599113 +59,SPOON,SUM,0,0,0,0,0,1,13,13.0547270775 +59,,SUM,0,0,0,0,0,2,24,25.5710561275 +59,,,,,,,,,, +59,,,,,,,,,, +60,BOWL,SUM,0,0,0,0,0,0,21,10.8251240253 +60,CUP,SUM,0,0,0,0,32,1,6,20.2537519932 +60,SPOON,SUM,0,0,0,0,8,2,15,17.7351200581 +60,,SUM,0,0,0,0,40,3,42,48.8139960766 +60,,,,,,,,,, +60,,,,,,,,,, +61,BOWL,SUM,0,0,0,0,8,0,0,11.1574389935 +61,CUP,SUM,1,0,0,1,8,1,17,0 +61,SPOON,SUM,1,0,1,0,0,6,44,0 +61,,SUM,2,0,1,1,16,7,61,11.1574389935 +61,,,,,,,,,, +61,,,,,,,,,, +62,BOWL,SUM,0,0,0,0,0,0,4,7.7585761547 +62,CUP,SUM,1,0,0,1,0,0,11,0 +62,SPOON,SUM,0,0,0,0,8,1,0,14.4823701382 +62,,SUM,1,0,0,1,8,1,15,22.2409462929 +62,,,,,,,,,, +62,,,,,,,,,, +63,BOWL,SUM,0,0,0,0,0,1,8,8.6061930656 +63,CUP,SUM,1,0,0,1,0,0,11,0 +63,SPOON,SUM,1,0,1,0,0,7,44,0 +63,,SUM,2,0,1,1,0,8,63,8.6061930656 +63,,,,,,,,,, +63,,,,,,,,,, +64,BOWL,SUM,0,0,0,0,0,0,0,7.1587569714 +64,CUP,SUM,1,0,0,1,8,0,11,0 +64,SPOON,SUM,0,0,0,0,0,1,11,13.0544710159 +64,,SUM,1,0,0,1,8,1,22,20.2132279873 +64,,,,,,,,,, +64,,,,,,,,,, +65,BOWL,SUM,0,0,0,0,0,2,12,9.0194160938 +65,CUP,SUM,1,0,0,1,0,1,11,0 +65,SPOON,SUM,0,0,0,0,0,2,13,12.6173911095 +65,,SUM,1,0,0,1,0,5,36,21.6368072033 +65,,,,,,,,,, +65,,,,,,,,,, +66,BOWL,SUM,1,0,1,0,0,2,44,0 +66,CUP,SUM,1,0,0,1,8,1,12,0 +66,SPOON,SUM,0,0,0,0,0,0,1,10.6649329662 +66,,SUM,2,0,1,1,8,3,57,10.6649329662 +66,,,,,,,,,, +66,,,,,,,,,, +67,BOWL,SUM,0,0,0,0,8,5,14,14.4327719212 +67,CUP,SUM,1,0,0,1,6,1,17,0 +67,SPOON,SUM,0,0,0,0,0,0,20,14.5419318676 +67,,SUM,1,0,0,1,14,6,51,28.9747037888 +67,,,,,,,,,, +67,,,,,,,,,, +68,BOWL,SUM,1,0,1,0,0,4,44,0 +68,CUP,SUM,0,0,0,0,44,5,67,31.5919189453 +68,SPOON,SUM,0,0,0,0,0,1,16,13.8390939236 +68,,SUM,1,0,1,0,44,10,127,45.4310128689 +68,,,,,,,,,, +68,,,,,,,,,, +69,BOWL,SUM,0,0,0,0,16,0,0,14.7661738396 +69,CUP,SUM,1,0,0,1,0,0,15,0 +69,SPOON,SUM,1,0,1,0,0,3,44,0 +69,,SUM,2,0,1,1,16,3,59,14.7661738396 +69,,,,,,,,,, +69,,,,,,,,,, +70,BOWL,SUM,0,0,0,0,0,0,1,7.9913580418 +70,CUP,SUM,1,0,0,1,0,0,11,0 +70,SPOON,SUM,0,0,0,0,0,1,12,12.9608240128 +70,,SUM,1,0,0,1,0,1,24,20.9521820545 +70,,,,,,,,,, +70,,,,,,,,,, +71,BOWL,SUM,0,0,0,0,0,2,0,7.4578588009 +71,CUP,SUM,1,0,0,1,0,0,11,0 +71,SPOON,SUM,0,0,0,0,0,2,20,15.147400856 +71,,SUM,1,0,0,1,0,4,31,22.6052596569 +71,,,,,,,,,, +71,,,,,,,,,, +72,BOWL,SUM,0,0,0,0,8,5,36,17.5651929379 +72,CUP,SUM,1,0,0,1,0,0,18,0 +72,SPOON,SUM,0,0,0,0,8,0,1,15.0042300224 +72,,SUM,1,0,0,1,16,5,55,32.5694229603 +72,,,,,,,,,, +72,,,,,,,,,, +73,BOWL,SUM,0,0,0,0,8,1,20,14.6955227852 +73,CUP,SUM,0,0,0,0,0,6,16,11.0188179016 +73,SPOON,SUM,0,0,0,0,0,0,4,10.9840619564 +73,,SUM,0,0,0,0,8,7,40,36.6984026432 +73,,,,,,,,,, +73,,,,,,,,,, +74,BOWL,SUM,0,0,0,0,0,1,8,8.9963769913 +74,CUP,SUM,1,0,0,1,12,0,19,0 +74,SPOON,SUM,0,0,0,0,0,0,4,11.5707349777 +74,,SUM,1,0,0,1,12,1,31,20.567111969 +74,,,,,,,,,, +74,,,,,,,,,, +75,BOWL,SUM,0,0,0,0,0,1,18,10.482558012 +75,CUP,SUM,1,0,0,1,0,3,11,0 +75,SPOON,SUM,0,0,0,0,0,3,16,13.9246089458 +75,,SUM,1,0,0,1,0,7,45,24.4071669579 +75,,,,,,,,,, +75,,,,,,,,,, +76,BOWL,SUM,0,0,0,0,12,2,34,18.7302060127 +76,CUP,SUM,0,0,0,0,0,3,8,6.0940549374 +76,SPOON,SUM,0,0,0,0,0,5,4,12.4039719105 +76,,SUM,0,0,0,0,12,10,46,37.2282328606 +76,,,,,,,,,, +76,,,,,,,,,, +77,BOWL,SUM,0,0,0,0,0,0,5,9.1319749355 +77,CUP,SUM,0,0,0,0,8,0,15,13.1134939194 +77,SPOON,SUM,0,0,0,0,0,4,17,14.9392821789 +77,,SUM,0,0,0,0,8,4,37,37.1847510338 +77,,,,,,,,,, +77,,,,,,,,,, +78,BOWL,SUM,0,0,0,0,8,1,20,14.8515188694 +78,CUP,SUM,0,0,0,0,8,0,13,12.3796949387 +78,SPOON,SUM,0,0,0,0,0,1,4,11.7136240005 +78,,SUM,0,0,0,0,16,2,37,38.9448378086 +78,,,,,,,,,, +78,,,,,,,,,, +79,BOWL,SUM,0,0,0,0,0,0,1,8.2394759655 +79,CUP,SUM,0,0,0,0,24,0,14,21.2455749512 +79,SPOON,SUM,0,0,0,0,0,0,4,12.1253681183 +79,,SUM,0,0,0,0,24,0,19,41.610419035 +79,,,,,,,,,, +79,,,,,,,,,, +80,BOWL,SUM,1,0,1,0,0,7,44,0 +80,CUP,SUM,1,0,0,1,0,1,26,0 +80,SPOON,SUM,0,0,0,0,8,3,28,18.4933261871 +80,,SUM,2,0,1,1,8,11,98,18.4933261871 +80,,,,,,,,,, +80,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,0,1,12,8.8889400959 +81,CUP,SUM,0,0,0,0,0,0,14,8.5484919548 +81,SPOON,SUM,0,0,0,0,0,0,2,10.6539101601 +81,,SUM,0,0,0,0,0,1,28,28.0913422108 +81,,,,,,,,,, +81,,,,,,,,,, +82,BOWL,SUM,0,0,0,0,0,0,5,8.0698261261 +82,CUP,SUM,0,0,0,0,0,1,6,4.6353368759 +82,SPOON,SUM,0,0,0,0,0,1,13,12.4650518894 +82,,SUM,0,0,0,0,0,2,24,25.1702148914 +82,,,,,,,,,, +82,,,,,,,,,, +83,BOWL,SUM,0,0,0,0,0,0,21,10.7793281078 +83,CUP,SUM,0,0,0,0,32,1,6,19.9651010036 +83,SPOON,SUM,0,0,0,0,8,2,15,17.3216769695 +83,,SUM,0,0,0,0,40,3,42,48.066106081 +83,,,,,,,,,, +83,,,,,,,,,, +84,BOWL,SUM,0,0,0,0,8,0,0,10.5563240051 +84,CUP,SUM,1,0,0,1,8,1,17,0 +84,SPOON,SUM,1,0,1,0,0,6,44,0 +84,,SUM,2,0,1,1,16,7,61,10.5563240051 +84,,,,,,,,,, +84,,,,,,,,,, +85,BOWL,SUM,0,0,0,0,0,0,4,8.1229388714 +85,CUP,SUM,1,0,0,1,0,0,11,0 +85,SPOON,SUM,0,0,0,0,8,1,0,14.2496099472 +85,,SUM,1,0,0,1,8,1,15,22.3725488186 +85,,,,,,,,,, +85,,,,,,,,,, +86,BOWL,SUM,0,0,0,0,0,1,8,8.5583598614 +86,CUP,SUM,1,0,0,1,0,0,11,0 +86,SPOON,SUM,1,0,1,0,0,7,44,0 +86,,SUM,2,0,1,1,0,8,63,8.5583598614 +86,,,,,,,,,, +86,,,,,,,,,, +87,BOWL,SUM,0,0,0,0,0,0,0,6.9523279667 +87,CUP,SUM,1,0,0,1,8,0,11,0 +87,SPOON,SUM,0,0,0,0,0,1,11,12.9354829788 +87,,SUM,1,0,0,1,8,1,22,19.8878109455 +87,,,,,,,,,, +87,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,0,2,12,9.1349301338 +88,CUP,SUM,1,0,0,1,0,1,11,0 +88,SPOON,SUM,0,0,0,0,0,2,13,12.8090589046 +88,,SUM,1,0,0,1,0,5,36,21.9439890385 +88,,,,,,,,,, +88,,,,,,,,,, +89,BOWL,SUM,1,0,1,0,0,2,44,0 +89,CUP,SUM,1,0,0,1,8,1,12,0 +89,SPOON,SUM,0,0,0,0,0,0,1,10.7945160866 +89,,SUM,2,0,1,1,8,3,57,10.7945160866 +89,,,,,,,,,, +89,,,,,,,,,, +90,BOWL,SUM,0,0,0,0,8,5,14,14.5862650871 +90,CUP,SUM,1,0,0,1,6,1,17,0 +90,SPOON,SUM,0,0,0,0,0,0,20,13.5365991592 +90,,SUM,1,0,0,1,14,6,51,28.1228642464 +90,,,,,,,,,, +90,,,,,,,,,, +91,BOWL,SUM,1,0,1,0,0,4,44,0 +91,CUP,SUM,0,0,0,0,44,5,67,32.2395730019 +91,SPOON,SUM,0,0,0,0,0,1,16,13.6120769978 +91,,SUM,1,0,1,0,44,10,127,45.8516499996 +91,,,,,,,,,, +91,,,,,,,,,, +92,BOWL,SUM,0,0,0,0,16,0,0,14.298358202 +92,CUP,SUM,1,0,0,1,0,0,15,0 +92,SPOON,SUM,1,0,1,0,0,3,44,0 +92,,SUM,2,0,1,1,16,3,59,14.298358202 +92,,,,,,,,,, +92,,,,,,,,,, +93,BOWL,SUM,0,0,0,0,0,0,1,7.8226950169 +93,CUP,SUM,1,0,0,1,0,0,11,0 +93,SPOON,SUM,0,0,0,0,0,1,12,13.0035178661 +93,,SUM,1,0,0,1,0,1,24,20.826212883 +93,,,,,,,,,, +93,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,0,2,0,7.5843029022 +94,CUP,SUM,1,0,0,1,0,0,11,0 +94,SPOON,SUM,0,0,0,0,0,2,20,14.9923319817 +94,,SUM,1,0,0,1,0,4,31,22.5766348839 +94,,,,,,,,,, +94,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,8,5,36,16.9351811409 +95,CUP,SUM,1,0,0,1,0,0,18,0 +95,SPOON,SUM,0,0,0,0,8,0,1,14.2875897884 +95,,SUM,1,0,0,1,16,5,55,31.2227709293 +95,,,,,,,,,, +95,,,,,,,,,, +96,BOWL,SUM,0,0,0,0,8,1,20,14.1860098839 +96,CUP,SUM,0,0,0,0,0,6,16,10.7020220757 +96,SPOON,SUM,0,0,0,0,0,0,4,11.0964319706 +96,,SUM,0,0,0,0,8,7,40,35.9844639301 +96,,,,,,,,,, +96,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,1,8,8.6147010326 +97,CUP,SUM,1,0,0,1,12,0,19,0 +97,SPOON,SUM,0,0,0,0,0,0,4,10.9142560959 +97,,SUM,1,0,0,1,12,1,31,19.5289571285 +97,,,,,,,,,, +97,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,1,18,10.3255479336 +98,CUP,SUM,1,0,0,1,0,3,11,0 +98,SPOON,SUM,0,0,0,0,0,3,16,13.8381330967 +98,,SUM,1,0,0,1,0,7,45,24.1636810303 +98,,,,,,,,,, +98,,,,,,,,,, +99,BOWL,SUM,0,0,0,0,12,2,34,18.161044836 +99,CUP,SUM,0,0,0,0,0,3,8,5.0742509365 +99,SPOON,SUM,0,0,0,0,0,5,4,11.8395738602 +99,,SUM,0,0,0,0,12,10,46,35.0748696327 +99,,,,,,,,,, +99,,,,,,,,,, +100,BOWL,SUM,0,0,0,0,0,0,5,8.7887191772 +100,CUP,SUM,0,0,0,0,8,0,15,12.7108709812 +100,SPOON,SUM,0,0,0,0,0,4,17,14.5642330647 +100,,SUM,0,0,0,0,8,4,37,36.0638232231 +100,,,,,,,,,, +100,,,,,,,,,, +101,BOWL,SUM,0,0,0,0,8,1,20,15.477241993 +101,CUP,SUM,0,0,0,0,8,0,13,11.5720140934 +101,SPOON,SUM,0,0,0,0,0,1,4,11.5963890553 +101,,SUM,0,0,0,0,16,2,37,38.6456451416 +101,,,,,,,,,, +101,,,,,,,,,, +102,BOWL,SUM,0,0,0,0,0,0,1,7.4590368271 +102,CUP,SUM,0,0,0,0,24,0,14,19.8688409328 +102,SPOON,SUM,0,0,0,0,0,0,4,11.0847461224 +102,,SUM,0,0,0,0,24,0,19,38.4126238823 +102,,,,,,,,,, +102,,,,,,,,,, +103,BOWL,SUM,1,0,1,0,0,7,44,0 +103,CUP,SUM,1,0,0,1,0,1,26,0 +103,SPOON,SUM,0,0,0,0,8,3,28,18.3595449924 +103,,SUM,2,0,1,1,8,11,98,18.3595449924 +103,,,,,,,,,, +103,,,,,,,,,, +104,BOWL,SUM,0,0,0,0,0,1,12,8.926763773 +104,CUP,SUM,0,0,0,0,0,0,14,8.9727039337 +104,SPOON,SUM,0,0,0,0,0,0,2,10.5587990284 +104,,SUM,0,0,0,0,0,1,28,28.4582667351 +104,,,,,,,,,, +104,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,0,0,5,8.1286921501 +105,CUP,SUM,0,0,0,0,0,1,6,4.9638950825 +105,SPOON,SUM,0,0,0,0,0,1,13,12.9461500645 +105,,SUM,0,0,0,0,0,2,24,26.0387372971 +105,,,,,,,,,, +105,,,,,,,,,, +106,BOWL,SUM,0,0,0,0,0,0,21,10.974132061 +106,CUP,SUM,0,0,0,0,32,1,6,19.7350780964 +106,SPOON,SUM,0,0,0,0,8,2,15,17.5787100792 +106,,SUM,0,0,0,0,40,3,42,48.2879202366 +106,,,,,,,,,, +106,,,,,,,,,, +107,BOWL,SUM,0,0,0,0,8,0,0,10.2387311459 +107,CUP,SUM,1,0,0,1,8,1,17,0 +107,SPOON,SUM,1,0,1,0,0,6,44,0 +107,,SUM,2,0,1,1,16,7,61,10.2387311459 +107,,,,,,,,,, +107,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,0,0,4,7.4951879978 +108,CUP,SUM,1,0,0,1,0,0,11,0 +108,SPOON,SUM,0,0,0,0,8,1,0,14.4823901653 +108,,SUM,1,0,0,1,8,1,15,21.9775781631 +108,,,,,,,,,, +108,,,,,,,,,, +109,BOWL,SUM,0,0,0,0,0,1,8,8.4347259998 +109,CUP,SUM,1,0,0,1,0,0,11,0 +109,SPOON,SUM,1,0,1,0,0,7,44,0 +109,,SUM,2,0,1,1,0,8,63,8.4347259998 +109,,,,,,,,,, +109,,,,,,,,,, +110,BOWL,SUM,0,0,0,0,0,0,0,7.2712070942 +110,CUP,SUM,1,0,0,1,8,0,11,0 +110,SPOON,SUM,0,0,0,0,0,1,11,13.2354009151 +110,,SUM,1,0,0,1,8,1,22,20.5066080093 +110,,,,,,,,,, +110,,,,,,,,,, +111,BOWL,SUM,0,0,0,0,0,2,12,9.0649001598 +111,CUP,SUM,1,0,0,1,0,1,11,0 +111,SPOON,SUM,0,0,0,0,0,2,13,12.5656249523 +111,,SUM,1,0,0,1,0,5,36,21.6305251122 +111,,,,,,,,,, +111,,,,,,,,,, +112,BOWL,SUM,1,0,1,0,0,2,44,0 +112,CUP,SUM,1,0,0,1,8,1,12,0 +112,SPOON,SUM,0,0,0,0,0,0,1,10.7807719707 +112,,SUM,2,0,1,1,8,3,57,10.7807719707 +112,,,,,,,,,, +112,,,,,,,,,, +113,BOWL,SUM,0,0,0,0,8,5,14,14.4060008526 +113,CUP,SUM,1,0,0,1,6,1,17,0 +113,SPOON,SUM,0,0,0,0,0,0,20,14.0462949276 +113,,SUM,1,0,0,1,14,6,51,28.4522957802 +113,,,,,,,,,, +113,,,,,,,,,, +114,BOWL,SUM,1,0,1,0,0,4,44,0 +114,CUP,SUM,0,0,0,0,44,5,67,31.2239041328 +114,SPOON,SUM,0,0,0,0,0,1,16,14.1713171005 +114,,SUM,1,0,1,0,44,10,127,45.3952212334 +114,,,,,,,,,, +114,,,,,,,,,, +115,BOWL,SUM,0,0,0,0,16,0,0,14.7992508411 +115,CUP,SUM,1,0,0,1,0,0,15,0 +115,SPOON,SUM,1,0,1,0,0,3,44,0 +115,,SUM,2,0,1,1,16,3,59,14.7992508411 +115,,,,,,,,,, +115,,,,,,,,,, +116,BOWL,SUM,0,0,0,0,0,0,1,7.1466989517 +116,CUP,SUM,1,0,0,1,0,0,11,0 +116,SPOON,SUM,0,0,0,0,0,1,12,12.6712698936 +116,,SUM,1,0,0,1,0,1,24,19.8179688454 +116,,,,,,,,,, +116,,,,,,,,,, +117,BOWL,SUM,0,0,0,0,0,2,0,7.7306358814 +117,CUP,SUM,1,0,0,1,0,0,11,0 +117,SPOON,SUM,0,0,0,0,0,2,20,14.7489509583 +117,,SUM,1,0,0,1,0,4,31,22.4795868397 +117,,,,,,,,,, +117,,,,,,,,,, +118,BOWL,SUM,0,0,0,0,8,5,36,16.975028038 +118,CUP,SUM,1,0,0,1,0,0,18,0 +118,SPOON,SUM,0,0,0,0,8,0,1,14.734418869 +118,,SUM,1,0,0,1,16,5,55,31.709446907 +118,,,,,,,,,, +118,,,,,,,,,, +119,BOWL,SUM,0,0,0,0,8,1,20,14.1540560722 +119,CUP,SUM,0,0,0,0,0,6,16,10.4268729687 +119,SPOON,SUM,0,0,0,0,0,0,4,11.0964810848 +119,,SUM,0,0,0,0,8,7,40,35.6774101257 +119,,,,,,,,,, +119,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,1,8,8.6448290348 +120,CUP,SUM,1,0,0,1,12,0,19,0 +120,SPOON,SUM,0,0,0,0,0,0,4,11.055560112 +120,,SUM,1,0,0,1,12,1,31,19.7003891468 +120,,,,,,,,,, +120,,,,,,,,,, +121,BOWL,SUM,0,0,0,0,0,1,18,10.1801950932 +121,CUP,SUM,1,0,0,1,0,3,11,0 +121,SPOON,SUM,0,0,0,0,0,3,16,13.3143351078 +121,,SUM,1,0,0,1,0,7,45,23.494530201 +121,,,,,,,,,, +121,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,12,2,34,17.7745249271 +122,CUP,SUM,0,0,0,0,0,3,8,5.4758520126 +122,SPOON,SUM,0,0,0,0,0,5,4,12.2872438431 +122,,SUM,0,0,0,0,12,10,46,35.5376207829 +122,,,,,,,,,, +122,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,0,0,5,8.6141700745 +123,CUP,SUM,0,0,0,0,8,0,15,12.3336091042 +123,SPOON,SUM,0,0,0,0,0,4,17,14.4455640316 +123,,SUM,0,0,0,0,8,4,37,35.3933432102 +123,,,,,,,,,, +123,,,,,,,,,, +124,BOWL,SUM,0,0,0,0,8,1,20,14.8594589233 +124,CUP,SUM,0,0,0,0,8,0,13,11.2695820332 +124,SPOON,SUM,0,0,0,0,0,1,4,11.7643070221 +124,,SUM,0,0,0,0,16,2,37,37.8933479786 +124,,,,,,,,,, +124,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,0,1,8.0197639465 +125,CUP,SUM,0,0,0,0,24,0,14,19.7506270409 +125,SPOON,SUM,0,0,0,0,0,0,4,11.5545239449 +125,,SUM,0,0,0,0,24,0,19,39.3249149323 +125,,,,,,,,,, +125,,,,,,,,,, +126,BOWL,SUM,1,0,1,0,0,2,44,0 +126,CUP,SUM,0,0,0,0,0,1,4,5.1721148491 +126,SPOON,SUM,0,0,0,0,8,0,0,13.0090479851 +126,,SUM,1,0,1,0,8,3,48,18.1811628342 +126,,,,,,,,,, +126,,,,,,,,,, +127,BOWL,SUM,0,0,0,0,16,0,8,15.2236778736 +127,CUP,SUM,0,0,0,0,0,0,2,4.36302495 +127,SPOON,SUM,1,0,1,0,0,5,44,0 +127,,SUM,1,0,1,0,16,5,54,19.5867028236 +127,,,,,,,,,, +127,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,12,0,4,12.8249340057 +128,CUP,SUM,1,0,0,1,0,1,11,0 +128,SPOON,SUM,0,0,0,0,8,2,0,13.8053541183 +128,,SUM,1,0,0,1,20,3,15,26.6302881241 +128,,,,,,,,,, +128,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,0,4,20,10.4737799168 +129,CUP,SUM,0,0,0,0,0,0,7,5.3390471935 +129,SPOON,SUM,0,0,0,0,0,0,4,11.3812401295 +129,,SUM,0,0,0,0,0,4,31,27.1940672398 +129,,,,,,,,,, +129,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,0,0,6.9132730961 +130,CUP,SUM,0,0,0,0,0,0,5,5.2021479607 +130,SPOON,SUM,0,0,0,0,24,2,16,24.9408280849 +130,,SUM,0,0,0,0,24,2,21,37.0562491417 +130,,,,,,,,,, +130,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,0,0,0,7.442841053 +131,CUP,SUM,1,0,0,1,0,0,20,0 +131,SPOON,SUM,0,0,0,0,0,1,7,12.2038750648 +131,,SUM,1,0,0,1,0,1,27,19.6467161179 +131,,,,,,,,,, +131,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,8,0,0,10.5709779263 +132,CUP,SUM,1,0,0,1,0,0,11,0 +132,SPOON,SUM,0,0,0,0,0,0,0,9.6507899761 +132,,SUM,1,0,0,1,8,0,11,20.2217679024 +132,,,,,,,,,, +132,,,,,,,,,, +133,BOWL,SUM,0,0,0,0,0,0,4,7.9626989365 +133,CUP,SUM,0,0,0,0,0,2,12,8.0945000648 +133,SPOON,SUM,0,0,0,0,0,1,9,12.1706328392 +133,,SUM,0,0,0,0,0,3,25,28.2278318405 +133,,,,,,,,,, +133,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,3,41,14.8263459206 +134,CUP,SUM,0,0,0,0,0,6,124,16.8453440666 +134,SPOON,SUM,0,0,0,0,0,0,3,11.400769949 +134,,SUM,0,0,0,0,0,9,168,43.0724599361 +134,,,,,,,,,, +134,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,0,16,9.7629320621 +135,CUP,SUM,1,0,0,1,0,1,11,0 +135,SPOON,SUM,0,0,0,0,0,2,13,13.1192479134 +135,,SUM,1,0,0,1,0,3,40,22.8821799755 +135,,,,,,,,,, +135,,,,,,,,,, +136,BOWL,SUM,1,0,1,0,0,2,44,0 +136,CUP,SUM,1,0,0,1,8,1,11,0 +136,SPOON,SUM,0,0,0,0,0,0,6,11.6380388737 +136,,SUM,2,0,1,1,8,3,61,11.6380388737 +136,,,,,,,,,, +136,,,,,,,,,, +137,BOWL,SUM,1,0,1,0,0,5,44,0 +137,CUP,SUM,1,0,0,1,0,2,26,0 +137,SPOON,SUM,0,0,0,0,0,1,29,15.474766016 +137,,SUM,2,0,1,1,0,8,99,15.474766016 +137,,,,,,,,,, +137,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,1,24,11.4029591084 +138,CUP,SUM,0,0,0,0,0,0,9,6.1637639999 +138,SPOON,SUM,0,0,0,0,0,0,5,11.5713129044 +138,,SUM,0,0,0,0,0,1,38,29.1380360126 +138,,,,,,,,,, +138,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,1,8,8.4199180603 +139,CUP,SUM,1,0,0,1,0,0,11,0 +139,SPOON,SUM,0,0,0,0,0,1,12,12.3391251564 +139,,SUM,1,0,0,1,0,2,31,20.7590432167 +139,,,,,,,,,, +139,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,0,0,0,7.1711521149 +140,CUP,SUM,1,0,0,1,8,0,21,0 +140,SPOON,SUM,0,0,0,0,0,0,4,10.7804808617 +140,,SUM,1,0,0,1,8,0,25,17.9516329765 +140,,,,,,,,,, +140,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,0,8,11.9394841194 +141,CUP,SUM,0,0,0,0,0,0,8,6.0983099937 +141,SPOON,SUM,1,0,1,0,0,8,44,0 +141,,SUM,1,0,1,0,8,8,60,18.0377941132 +141,,,,,,,,,, +141,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,0,0,0,7.3077399731 +142,CUP,SUM,0,0,0,0,0,0,28,9.5341868401 +142,SPOON,SUM,0,0,0,0,0,2,12,13.3187139034 +142,,SUM,0,0,0,0,0,2,40,30.1606407166 +142,,,,,,,,,, +142,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,4,41,18.2916350365 +143,CUP,SUM,1,0,0,1,0,0,11,0 +143,SPOON,SUM,0,0,0,0,16,3,33,24.3468780518 +143,,SUM,1,0,0,1,24,7,85,42.6385130882 +143,,,,,,,,,, +143,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,16,2,28,19.8660678864 +144,CUP,SUM,1,0,0,1,0,0,11,0 +144,SPOON,SUM,0,0,0,0,0,3,36,16.9746391773 +144,,SUM,1,0,0,1,16,5,75,36.8407070637 +144,,,,,,,,,, +144,,,,,,,,,, +145,BOWL,SUM,1,0,1,0,8,4,44,0 +145,CUP,SUM,0,0,0,0,0,0,4,5.1251649857 +145,SPOON,SUM,0,0,0,0,8,0,11,16.9526100159 +145,,SUM,1,0,1,0,16,4,59,22.0777750015 +145,,,,,,,,,, +145,,,,,,,,,, +146,BOWL,SUM,0,0,0,0,0,1,7,8.3415880203 +146,CUP,SUM,0,0,0,0,0,4,2,4.9271879196 +146,SPOON,SUM,0,0,0,0,8,5,40,20.7019460201 +146,,SUM,0,0,0,0,8,10,49,33.9707219601 +146,,,,,,,,,, +146,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,8,0,0,10.2560710907 +147,CUP,SUM,1,0,0,1,0,1,11,0 +147,SPOON,SUM,0,0,0,0,0,1,8,11.237719059 +147,,SUM,1,0,0,1,8,2,19,21.4937901497 +147,,,,,,,,,, +147,,,,,,,,,, +148,BOWL,SUM,1,0,1,0,16,3,44,0 +148,CUP,SUM,0,0,0,0,0,0,2,4.7666490078 +148,SPOON,SUM,1,0,1,0,16,6,44,0 +148,,SUM,2,0,2,0,32,9,90,4.7666490078 +148,,,,,,,,,, +148,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,0,20,10.5354180336 +149,CUP,SUM,1,0,0,1,16,1,11,0 +149,SPOON,SUM,0,0,0,0,0,0,0,9.8192908764 +149,,SUM,1,0,0,1,16,1,31,20.35470891 +149,,,,,,,,,, +149,,,,,,,,,, +150,BOWL,SUM,1,0,1,0,8,5,44,0 +150,CUP,SUM,0,0,0,0,0,0,2,5.0044779778 +150,SPOON,SUM,0,0,0,0,0,0,8,11.6593260765 +150,,SUM,1,0,1,0,8,5,54,16.6638040543 +150,,,,,,,,,, +150,,,,,,,,,, +151,BOWL,SUM,1,0,1,0,8,3,44,0 +151,CUP,SUM,1,0,0,1,0,1,11,0 +151,SPOON,SUM,0,0,0,0,0,1,8,11.6332850456 +151,,SUM,2,0,1,1,8,5,63,11.6332850456 +151,,,,,,,,,, +151,,,,,,,,,, +152,BOWL,SUM,1,0,1,0,12,3,44,0 +152,CUP,SUM,0,0,0,0,0,0,14,7.9376020432 +152,SPOON,SUM,0,0,0,0,0,0,14,12.8907330036 +152,,SUM,1,0,1,0,12,3,72,20.8283350468 +152,,,,,,,,,, +152,,,,,,,,,, +153,BOWL,SUM,0,0,0,0,0,0,4,7.6115350723 +153,CUP,SUM,1,0,0,1,0,1,21,0 +153,SPOON,SUM,0,0,0,0,12,1,13,17.1059019566 +153,,SUM,1,0,0,1,12,2,38,24.7174370289 +153,,,,,,,,,, +153,,,,,,,,,, +154,BOWL,SUM,0,0,0,0,0,2,8,8.3896691799 +154,CUP,SUM,1,0,0,1,0,0,12,0 +154,SPOON,SUM,0,0,0,0,0,0,9,12.2362229824 +154,,SUM,1,0,0,1,0,2,29,20.6258921623 +154,,,,,,,,,, +154,,,,,,,,,, +155,BOWL,SUM,0,0,0,0,12,1,4,12.4635798931 +155,CUP,SUM,0,0,0,0,0,1,3,5.3243360519 +155,SPOON,SUM,0,0,0,0,0,1,7,12.2293059826 +155,,SUM,0,0,0,0,12,3,14,30.0172219276 +155,,,,,,,,,, +155,,,,,,,,,, +156,BOWL,SUM,1,0,1,0,0,5,44,0 +156,CUP,SUM,0,0,0,0,0,4,3,5.9744930267 +156,SPOON,SUM,0,0,0,0,0,0,6,11.7150859833 +156,,SUM,1,0,1,0,0,9,53,17.68957901 +156,,,,,,,,,, +156,,,,,,,,,, +157,BOWL,SUM,0,0,0,0,0,0,0,6.9688739777 +157,CUP,SUM,1,0,0,1,6,1,11,0 +157,SPOON,SUM,0,0,0,0,0,1,3,11.3017289639 +157,,SUM,1,0,0,1,6,2,14,18.2706029415 +157,,,,,,,,,, +157,,,,,,,,,, +158,BOWL,SUM,0,0,0,0,0,0,0,7.3001179695 +158,CUP,SUM,1,0,0,1,56,0,11,0 +158,SPOON,SUM,0,0,0,0,0,2,24,14.1748700142 +158,,SUM,1,0,0,1,56,2,35,21.4749879837 +158,,,,,,,,,, +158,,,,,,,,,, +159,BOWL,SUM,1,0,1,0,0,3,44,0 +159,CUP,SUM,1,0,0,1,0,4,32,0 +159,SPOON,SUM,0,0,0,0,0,0,0,10.8226408958 +159,,SUM,2,0,1,1,0,7,76,10.8226408958 +159,,,,,,,,,, +159,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,8,1,2,11.5318090916 +160,CUP,SUM,1,0,0,1,8,1,11,0 +160,SPOON,SUM,0,0,0,0,8,0,2,14.8526570797 +160,,SUM,1,0,0,1,24,2,15,26.3844661713 +160,,,,,,,,,, +160,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,0,0,4,8.0874228477 +161,CUP,SUM,1,0,1,0,0,1,37,0 +161,SPOON,SUM,0,0,0,0,12,0,2,16.7071819305 +161,,SUM,1,0,1,0,12,1,43,24.7946047783 +161,,,,,,,,,, +161,,,,,,,,,, +162,BOWL,SUM,0,0,0,0,0,1,12,10.2416059971 +162,CUP,SUM,0,0,0,0,0,1,2,5.6675229073 +162,SPOON,SUM,0,0,0,0,0,0,4,11.6093459129 +162,,SUM,0,0,0,0,0,2,18,27.5184748173 +162,,,,,,,,,, +162,,,,,,,,,, +163,BOWL,SUM,0,0,0,0,0,1,8,9.4575190544 +163,CUP,SUM,0,0,0,0,0,0,2,4.9495830536 +163,SPOON,SUM,0,0,0,0,0,0,0,11.0135099888 +163,,SUM,0,0,0,0,0,1,10,25.4206120968 +163,,,,,,,,,, +163,,,,,,,,,, +164,BOWL,SUM,1,0,1,0,0,3,44,0 +164,CUP,SUM,0,0,0,0,0,0,2,5.3534588814 +164,SPOON,SUM,0,0,0,0,12,1,13,19.4031159878 +164,,SUM,1,0,1,0,12,4,59,24.7565748692 +164,,,,,,,,,, +164,,,,,,,,,, +165,BOWL,SUM,0,0,0,0,0,0,18,10.1564729214 +165,CUP,SUM,1,0,0,1,16,0,28,0 +165,SPOON,SUM,0,0,0,0,0,3,22,14.9861021042 +165,,SUM,1,0,0,1,16,3,68,25.1425750256 +165,,,,,,,,,, +165,,,,,,,,,, +166,BOWL,SUM,1,0,1,0,0,7,44,0 +166,CUP,SUM,1,0,0,1,0,1,26,0 +166,SPOON,SUM,0,0,0,0,8,3,28,17.9515199661 +166,,SUM,2,0,1,1,8,11,98,17.9515199661 +166,,,,,,,,,, +166,,,,,,,,,, +167,BOWL,SUM,0,0,0,0,0,1,12,8.9237859249 +167,CUP,SUM,0,0,0,0,0,2,14,8.6281139851 +167,SPOON,SUM,0,0,0,0,0,0,2,10.656594038 +167,,SUM,0,0,0,0,0,3,28,28.208493948 +167,,,,,,,,,, +167,,,,,,,,,, +168,BOWL,SUM,0,0,0,0,0,1,5,7.8352839947 +168,CUP,SUM,0,0,0,0,0,1,6,4.5605678558 +168,SPOON,SUM,0,0,0,0,0,1,13,12.0963790417 +168,,SUM,0,0,0,0,0,3,24,24.4922308922 +168,,,,,,,,,, +168,,,,,,,,,, +169,BOWL,SUM,0,0,0,0,0,2,21,10.4310359955 +169,CUP,SUM,0,0,0,0,24,0,2,14.3583450317 +169,SPOON,SUM,0,0,0,0,0,2,27,16.2586390972 +169,,SUM,0,0,0,0,24,4,50,41.0480201244 +169,,,,,,,,,, +169,,,,,,,,,, +170,BOWL,SUM,0,0,0,0,0,0,0,6.6946909428 +170,CUP,SUM,0,0,0,0,0,0,5,5.1819331646 +170,SPOON,SUM,0,0,0,0,8,3,16,16.5373730659 +170,,SUM,0,0,0,0,8,3,21,28.4139971733 +170,,,,,,,,,, +170,,,,,,,,,, +171,BOWL,SUM,0,0,0,0,8,0,3,10.5527451038 +171,CUP,SUM,0,0,0,0,0,1,11,6.3168690205 +171,SPOON,SUM,0,0,0,0,0,1,13,13.1939871311 +171,,SUM,0,0,0,0,8,2,27,30.0636012554 +171,,,,,,,,,, +171,,,,,,,,,, +172,BOWL,SUM,0,0,0,0,8,1,0,10.0606548786 +172,CUP,SUM,0,0,0,0,20,3,21,17.4721519947 +172,SPOON,SUM,1,0,1,0,0,11,44,0 +172,,SUM,1,0,1,0,28,15,65,27.5328068733 +172,,,,,,,,,, +172,,,,,,,,,, +173,BOWL,SUM,0,0,0,0,0,6,32,12.4122409821 +173,CUP,SUM,1,0,0,1,16,1,11,0 +173,SPOON,SUM,0,0,0,0,0,1,10,11.7601418495 +173,,SUM,1,0,0,1,16,8,53,24.1723828316 +173,,,,,,,,,, +173,,,,,,,,,, +174,BOWL,SUM,1,0,1,0,8,4,44,0 +174,CUP,SUM,1,0,0,1,0,0,11,0 +174,SPOON,SUM,0,0,0,0,0,0,0,10.3760700226 +174,,SUM,2,0,1,1,8,4,55,10.3760700226 +174,,,,,,,,,, +174,,,,,,,,,, +175,BOWL,SUM,1,0,1,0,0,7,44,0 +175,CUP,SUM,0,0,0,0,0,1,2,4.8846178055 +175,SPOON,SUM,0,0,0,0,0,2,13,14.1282269955 +175,,SUM,1,0,1,0,0,10,59,19.0128448009 +175,,,,,,,,,, +175,,,,,,,,,, +176,BOWL,SUM,0,0,0,0,24,0,4,18.3240609169 +176,CUP,SUM,0,0,0,0,0,2,2,5.001157999 +176,SPOON,SUM,0,0,0,0,0,2,0,10.2332849503 +176,,SUM,0,0,0,0,24,4,6,33.5585038662 +176,,,,,,,,,, +176,,,,,,,,,, +177,BOWL,SUM,0,0,0,0,0,2,12,9.2105891705 +177,CUP,SUM,0,0,0,0,0,2,2,5.1137299538 +177,SPOON,SUM,0,0,0,0,24,4,0,21.7804300785 +177,,SUM,0,0,0,0,24,8,14,36.1047492027 +177,,,,,,,,,, +177,,,,,,,,,, +178,BOWL,SUM,1,0,1,0,8,6,44,0 +178,CUP,SUM,1,0,1,0,12,2,11,0 +178,SPOON,SUM,0,0,0,0,0,4,0,10.5202789307 +178,,SUM,2,0,2,0,20,12,55,10.5202789307 +178,,,,,,,,,, +178,,,,,,,,,, +179,BOWL,SUM,0,0,0,0,0,0,0,6.770236969 +179,CUP,SUM,1,0,0,1,8,0,17,0 +179,SPOON,SUM,0,0,0,0,0,1,4,10.974011898 +179,,SUM,1,0,0,1,8,1,21,17.744248867 +179,,,,,,,,,, +179,,,,,,,,,, +180,BOWL,SUM,1,0,1,0,8,4,44,0 +180,CUP,SUM,0,0,0,0,0,5,37,11.6026470661 +180,SPOON,SUM,1,0,1,0,8,10,44,0 +180,,SUM,2,0,2,0,16,19,125,11.6026470661 +180,,,,,,,,,, +180,,,,,,,,,, +181,BOWL,SUM,0,0,0,0,0,0,0,7.0572290421 +181,CUP,SUM,0,0,0,0,24,3,2,15.5493228436 +181,SPOON,SUM,0,0,0,0,0,0,0,10.1831591129 +181,,SUM,0,0,0,0,24,3,2,32.7897109985 +181,,,,,,,,,, +181,,,,,,,,,, +182,BOWL,SUM,1,0,1,0,0,3,44,0 +182,CUP,SUM,0,0,0,0,8,1,2,8.7766821384 +182,SPOON,SUM,0,0,0,0,0,2,0,10.6251888275 +182,,SUM,1,0,1,0,8,6,46,19.401870966 +182,,,,,,,,,, +182,,,,,,,,,, +183,BOWL,SUM,0,0,0,0,0,0,4,8.3425798416 +183,CUP,SUM,1,0,0,1,8,2,11,0 +183,SPOON,SUM,0,0,0,0,16,0,0,17.0707039833 +183,,SUM,1,0,0,1,24,2,15,25.4132838249 +183,,,,,,,,,, +183,,,,,,,,,, +184,BOWL,SUM,0,0,0,0,0,0,1,8.2794508934 +184,CUP,SUM,1,0,0,1,0,1,11,0 +184,SPOON,SUM,0,0,0,0,40,3,12,31.8623631001 +184,,SUM,1,0,0,1,40,4,24,40.1418139935 +184,,,,,,,,,, +184,,,,,,,,,, +185,BOWL,SUM,0,0,0,0,8,3,1,12.1664590836 +185,CUP,SUM,1,0,0,1,0,2,11,0 +185,SPOON,SUM,0,0,0,0,0,0,1,10.4260070324 +185,,SUM,1,0,0,1,8,5,13,22.592466116 +185,,,,,,,,,, +185,,,,,,,,,, +186,BOWL,SUM,1,0,1,0,0,4,44,0 +186,CUP,SUM,1,0,0,1,0,1,11,0 +186,SPOON,SUM,0,0,0,0,0,2,36,16.7238230705 +186,,SUM,2,0,1,1,0,7,91,16.7238230705 +186,,,,,,,,,, +186,,,,,,,,,, +187,BOWL,SUM,0,0,0,0,0,3,16,10.2425920963 +187,CUP,SUM,1,0,0,1,0,0,17,0 +187,SPOON,SUM,0,0,0,0,0,3,34,16.6521868706 +187,,SUM,1,0,0,1,0,6,67,26.8947789669 +187,,,,,,,,,, +187,,,,,,,,,, +188,BOWL,SUM,1,0,1,0,0,4,44,0 +188,CUP,SUM,1,0,0,1,8,3,11,0 +188,SPOON,SUM,0,0,0,0,0,3,24,14.6588668823 +188,,SUM,2,0,1,1,8,10,79,14.6588668823 +188,,,,,,,,,, +188,,,,,,,,,, +189,BOWL,SUM,0,0,0,0,0,0,0,7.3959648609 +189,CUP,SUM,1,0,0,1,0,0,11,0 +189,SPOON,SUM,0,0,0,0,0,2,9,13.0320661068 +189,,SUM,1,0,0,1,0,2,20,20.4280309677 +189,,,,,,,,,, +189,,,,,,,,,, +190,BOWL,SUM,0,0,0,0,0,1,0,7.3283028603 +190,CUP,SUM,0,0,0,0,0,0,2,4.8656790257 +190,SPOON,SUM,0,0,0,0,0,5,36,16.3442611694 +190,,SUM,0,0,0,0,0,6,38,28.5382430553 +190,,,,,,,,,, +190,,,,,,,,,, +191,BOWL,SUM,0,0,0,0,0,0,0,7.2763221264 +191,CUP,SUM,1,0,0,1,0,0,11,0 +191,SPOON,SUM,1,0,1,0,0,5,44,0 +191,,SUM,2,0,1,1,0,5,55,7.2763221264 +191,,,,,,,,,, +191,,,,,,,,,, +192,BOWL,SUM,0,0,0,0,0,4,1,7.3278541565 +192,CUP,SUM,0,0,0,0,0,1,17,9.0630099773 +192,SPOON,SUM,0,0,0,0,8,6,21,17.8689110279 +192,,SUM,0,0,0,0,8,11,39,34.2597751617 +192,,,,,,,,,, +192,,,,,,,,,, +193,BOWL,SUM,1,0,1,0,24,7,44,0 +193,CUP,SUM,0,0,0,0,0,1,2,4.870541811 +193,SPOON,SUM,0,0,0,0,0,0,0,10.3970658779 +193,,SUM,1,0,1,0,24,8,46,15.2676076889 +193,,,,,,,,,, +193,,,,,,,,,, +194,BOWL,SUM,1,0,1,0,0,4,44,0 +194,CUP,SUM,0,0,0,0,0,3,11,7.6614909172 +194,SPOON,SUM,0,0,0,0,0,0,1,10.7214860916 +194,,SUM,1,0,1,0,0,7,56,18.3829770088 +194,,,,,,,,,, +194,,,,,,,,,, +195,BOWL,SUM,0,0,0,0,0,0,0,7.0351099968 +195,CUP,SUM,1,0,0,1,40,6,46,0 +195,SPOON,SUM,0,0,0,0,0,1,4,11.2242088318 +195,,SUM,1,0,0,1,40,7,50,18.2593188286 +195,,,,,,,,,, +195,,,,,,,,,, +196,BOWL,SUM,0,0,0,0,0,1,8,8.4781200886 +196,CUP,SUM,0,0,0,0,8,1,2,8.3474159241 +196,SPOON,SUM,0,0,0,0,0,1,3,11.5721290112 +196,,SUM,0,0,0,0,8,3,13,28.3976650238 +196,,,,,,,,,, +196,,,,,,,,,, +197,BOWL,SUM,0,0,0,0,0,1,4,7.9306440353 +197,CUP,SUM,1,0,0,1,8,0,11,0 +197,SPOON,SUM,0,0,0,0,0,3,40,17.6018869877 +197,,SUM,1,0,0,1,8,4,55,25.532531023 +197,,,,,,,,,, +197,,,,,,,,,, +198,BOWL,SUM,0,0,0,0,8,5,19,15.9665050507 +198,CUP,SUM,0,0,0,0,0,1,11,7.9614930153 +198,SPOON,SUM,0,0,0,0,0,1,0,10.6570780277 +198,,SUM,0,0,0,0,8,7,30,34.5850760937 +198,,,,,,,,,, +198,,,,,,,,,, +199,BOWL,SUM,1,0,1,0,0,3,44,0 +199,CUP,SUM,0,0,0,0,8,0,2,8.7669808865 +199,SPOON,SUM,0,0,0,0,0,6,27,16.0432140827 +199,,SUM,1,0,1,0,8,9,73,24.8101949692 +199,,,,,,,,,, +199,,,,,,,,,, From a19fd92f2abe3d0346942b4eba9d31a3dcddfc18 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Fri, 6 Dec 2019 23:04:19 +0100 Subject: [PATCH 12/38] [btr-belief] added a cleaned-up version of Jonas's PR --- .../src/belief-state.lisp | 32 +++++++++++++++++++ .../src/package.lisp | 8 +++-- 2 files changed, 37 insertions(+), 3 deletions(-) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp index 3b18a80a8c..d04d114fe3 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp @@ -110,3 +110,35 @@ is replaced with replacement. (if robot-object (btr:set-robot-state-from-tf cram-tf:*transformer* robot-object) (warn "ROBOT was not defined. Have you loaded a robot package?")))) + + + +(defun vary-kitchen-urdf (&optional (new-joint-states + ;; '(("sink_area_footprint_joint" + ;; ((1.855d0 1.3d0 0.0d0) (0 0 1 0))) + ;; ("oven_area_footprint_joint" + ;; ((1.855d0 2.47d0 0.0d0) (0 0 1 0))) + ;; ("kitchen_island_footprint_joint" + ;; ((-1.365d0 0.59d0 0.0d0) (0 0 0 1))) + ;; ("fridge_area_footprint_joint" + ;; ((1.845d0 -0.73d0 0.0d0) (0 0 1 0))) + ;; ("table_area_main_joint" + ;; ((-2.4d0 -1.5d0 0.0d0) (0 0 1 0)))) + '(("sink_area_footprint_joint" + ((1.155d0 0.9d0 0.0d0) (0 0 0 1))) + ("oven_area_footprint_joint" + ((-0.155d0 2.97d0 0.0d0) (0 0 -0.5 0.5))) + ("kitchen_island_footprint_joint" + ((-0.10d0 0.0d0 0.0d0) (0 0 0.5 0.5))) + ("fridge_area_footprint_joint" + ((-1.845d0 0.73d0 0.0d0) (0 0 0.5 0.5))) + ("table_area_main_joint" + ((1.6d0 -1.0d0 0.0d0) (0 0 0.5 0.5)))))) + (let ((kitchen-urdf-joints (cl-urdf:joints *kitchen-urdf*))) + (mapc (lambda (joint-name-poses-list-pair) + (destructuring-bind (joint-name poses-list) + joint-name-poses-list-pair + (let ((joint (gethash joint-name kitchen-urdf-joints))) + (setf (slot-value joint 'cl-urdf:origin) + (cram-tf:list->pose poses-list))))) + new-joint-states))) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp index ca2f0fa59e..cf0f8103d2 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/package.lisp @@ -1,9 +1,10 @@ +;;; ;;; Copyright (c) 2012, Lorenz Moesenlechner ;;; All rights reserved. -;;; +;;; ;;; Redistribution and use in source and binary forms, with or without ;;; modification, are permitted provided that the following conditions are met: -;;; +;;; ;;; * Redistributions of source code must retain the above copyright ;;; notice, this list of conditions and the following disclaimer. ;;; * Redistributions in binary form must reproduce the above copyright @@ -13,7 +14,7 @@ ;;; Technische Universitaet Muenchen nor the names of its contributors ;;; may be used to endorse or promote products derived from this software ;;; without specific prior written permission. -;;; +;;; ;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" ;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE ;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE @@ -45,5 +46,6 @@ #:*robot-parameter* #:*kitchen-parameter* #:*spawn-debug-window* #:setup-world-database + #:vary-kitchen-urdf ;; process-modules #:world-state-detecting-pm)) From bc8830f4b87eaa2d239264ff7f029f5b681ea0f1 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Sat, 7 Dec 2019 00:01:02 +0100 Subject: [PATCH 13/38] [btr-belief] minor tweaks for ktichen variation function --- .../src/belief-state.lisp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp index d04d114fe3..531fd13a40 100644 --- a/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp +++ b/cram_3d_world/cram_bullet_reasoning_belief_state/src/belief-state.lisp @@ -129,9 +129,9 @@ is replaced with replacement. ("oven_area_footprint_joint" ((-0.155d0 2.97d0 0.0d0) (0 0 -0.5 0.5))) ("kitchen_island_footprint_joint" - ((-0.10d0 0.0d0 0.0d0) (0 0 0.5 0.5))) + ((-0.60d0 -0.2d0 0.0d0) (0 0 0.5 0.5))) ("fridge_area_footprint_joint" - ((-1.845d0 0.73d0 0.0d0) (0 0 0.5 0.5))) + ((-2.30d0 0.5d0 0.0d0) (0 0 0.5 0.5))) ("table_area_main_joint" ((1.6d0 -1.0d0 0.0d0) (0 0 0.5 0.5)))))) (let ((kitchen-urdf-joints (cl-urdf:joints *kitchen-urdf*))) @@ -140,5 +140,5 @@ is replaced with replacement. joint-name-poses-list-pair (let ((joint (gethash joint-name kitchen-urdf-joints))) (setf (slot-value joint 'cl-urdf:origin) - (cram-tf:list->pose poses-list))))) + (cram-tf:list->transform poses-list))))) new-joint-states))) From fd124981a699c3683fd56ea6a3a68eed30f0b862 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Sat, 7 Dec 2019 00:01:25 +0100 Subject: [PATCH 14/38] [cram-tf] added LIST->TRANSFORM --- cram_common/cram_tf/src/package.lisp | 2 +- cram_common/cram_tf/src/utilities.lisp | 7 +++++++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/cram_common/cram_tf/src/package.lisp b/cram_common/cram_tf/src/package.lisp index ffb78a686b..fc8951e93c 100644 --- a/cram_common/cram_tf/src/package.lisp +++ b/cram_common/cram_tf/src/package.lisp @@ -46,7 +46,7 @@ #:pose->flat-list #:pose->flat-list-w-first #:pose->list #:flat-list->pose #:flat-list->transform #:flat-list-w-first->pose - #:list->pose + #:list->pose #:list->transform #:ensure-pose-in-frame #:ensure-point-in-frame #:translate-pose #:rotate-pose #:rotate-pose-in-own-frame #:rotate-transform-in-own-frame diff --git a/cram_common/cram_tf/src/utilities.lisp b/cram_common/cram_tf/src/utilities.lisp index 4702c6afa7..0cc733453d 100644 --- a/cram_common/cram_tf/src/utilities.lisp +++ b/cram_common/cram_tf/src/utilities.lisp @@ -112,6 +112,13 @@ (cl-transforms:make-3d-vector x y z) (cl-transforms:make-quaternion q1 q2 q3 w)))) +(defun list->transform (pose-list) + (destructuring-bind ((x y z) (q1 q2 q3 w)) + pose-list + (cl-transforms:make-transform + (cl-transforms:make-3d-vector x y z) + (cl-transforms:make-quaternion q1 q2 q3 w)))) + (defun ensure-pose-in-frame (pose frame &key use-current-ros-time use-zero-time) (declare (type (or null cl-transforms:pose cl-transforms-stamped:pose-stamped))) (when pose From 9a8a3eb2024e7b8cf0ba57913deaf8dfe3686612 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Sat, 7 Dec 2019 00:01:57 +0100 Subject: [PATCH 15/38] [kvr] supporting URDF kitchen variation --- .../cram_knowrob_vr/cram-knowrob-vr.asd | 3 +- .../src/fetch-and-deliver-based-demo.lisp | 61 ++++++++++++++----- cram_knowrob/cram_knowrob_vr/src/init.lisp | 19 +++++- 3 files changed, 65 insertions(+), 18 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd index 4d10207749..63450e6324 100644 --- a/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd +++ b/cram_knowrob/cram_knowrob_vr/cram-knowrob-vr.asd @@ -56,7 +56,8 @@ cram-btr-visibility-costmap cram-btr-spatial-relations-costmap cram-robot-pose-gaussian-costmap - cram-occupancy-grid-costmap) + ;; cram-occupancy-grid-costmap + ) :components ((:module "src" diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index 6561b06428..6d46283c6c 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -45,6 +45,11 @@ ;; (milk . ((1.4 0.62 0.95) (0 0 1 0))) )) +(defparameter *object-delivering-poses-varied-kitchen* + '((bowl . ((-0.7846 0.3 0.89953) (0 0 0.1 0.9))) + (cup . ((-0.95 0.2 0.9) (0 0 0.99 0.07213))) + (spoon . ((-1.0573 0.35 0.86835) (0.0 -0.0 -0.5 0.5))))) + ;; (defparameter *object-delivering-poses* ;; '((breakfast-cereal . ((1.4 0.4 0.85) (0 0 0 1))) ;; (cup . ((-0.888 1.207885 0.9) (0 0 0.99 0.07213))) @@ -68,18 +73,25 @@ (defparameter *object-colors* '((:spoon . "blue"))) -(defun spawn-objects-on-sink-counter (&optional (spawning-poses *object-spawning-poses*)) +(defun spawn-objects-on-sink-counter () (btr-utils:kill-all-objects) (btr:add-objects-to-mesh-list "cram_pr2_pick_place_demo") (btr:detach-all-objects (btr:get-robot-object)) - (let ((object-types '(:cup :bowl :spoon)) - (delta-alpha (* 2 pi)) - (delta-y 0.3) - (x0 1.35) - (y0 (- 0.2)) - (y-bucket-padding 0.2) - (y-bucket-length 0.3) - (y-buckets (alexandria:shuffle '(0 1 2)))) + (let* ((varied-kitchen? (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|KITCHEN.sink_area|)))) + 1.0)) + (object-types '(:cup :bowl :spoon)) + (delta-alpha (* 2 pi)) + (delta-y 0.3) + (x0 (if varied-kitchen? 1.25 1.35)) + (y0 (if varied-kitchen? 1.0 (- 0.2))) + (y-bucket-padding 0.2) + (y-bucket-length 0.3) + (y-buckets (alexandria:shuffle '(0 1 2)))) ;; spawn objects at random poses (let ((objects (mapcar (lambda (object-type) (let* ((delta-x (ecase object-type @@ -472,7 +484,16 @@ (list (cl-transforms-stamped:pose->pose-stamped cram-tf:*fixed-frame* 0.0 (cram-tf:list->pose - (cdr (assoc type *object-delivering-poses*))))) + (cdr (assoc type + (if (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|KITCHEN.sink_area|)))) + 1.0) + *object-delivering-poses-varied-kitchen* + *object-delivering-poses*)))))) ;; (alexandria:shuffle ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO )) @@ -491,10 +512,22 @@ (?arms (alexandria:shuffle '(:left :right))) (?delivering-poses - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type *object-delivering-poses*))))))) + (list (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr (assoc type + (if (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|KITCHEN.sink_area|)))) + 1.0) + *object-delivering-poses-varied-kitchen* + *object-delivering-poses*)))))) + ;; (alexandria:shuffle + ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO + )) (exe:perform (desig:an action diff --git a/cram_knowrob/cram_knowrob_vr/src/init.lisp b/cram_knowrob/cram_knowrob_vr/src/init.lisp index 9db3b6477f..a6dc16f7a8 100644 --- a/cram_knowrob/cram_knowrob_vr/src/init.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/init.lisp @@ -137,13 +137,13 @@ semantic map kitchen." costmap:costmap-resolution costmap:orientation-samples costmap:orientation-sample-step) - (<- (location-costmap:costmap-size 12 12)) - (<- (location-costmap:costmap-origin -6 -6)) + (<- (location-costmap:costmap-size 5 5)) + (<- (location-costmap:costmap-origin -2.5 -2.5)) (<- (location-costmap:costmap-resolution 0.04)) (<- (location-costmap:orientation-samples 2)) (<- (location-costmap:orientation-sample-step 0.1)))) -(defun init-full-simulation (&optional namedir) +(defun init-full-simulation (&key namedir urdf-new-kitchen?) "Spawns all the objects which are necessary for the current scenario (Meaning: Kitchen, Robot, Muesli, Milk, Cup, Bowl, Fork and 3 Axis objects for debugging." @@ -154,8 +154,21 @@ objects for debugging." (roslisp-utilities:startup-ros) + (when urdf-new-kitchen? + (unless btr-belief:*kitchen-urdf* + (let ((kitchen-urdf-string + (roslisp:get-param btr-belief:*kitchen-parameter* nil))) + (when kitchen-urdf-string + (setf btr-belief:*kitchen-urdf* + (cl-urdf:parse-urdf kitchen-urdf-string))))) + (btr-belief:vary-kitchen-urdf)) + (coe:clear-belief) + (when urdf-new-kitchen? + (setf (btr:pose (btr:object btr:*current-bullet-world* (btr:get-robot-name))) + (cram-tf:list->pose '((-1 1.5 0) (0 0 0 1))))) + (cram-bullet-reasoning:clear-costmap-vis-object) (spawn-urdf-items) From 621c1f7b2a46eb5d8b043a19b8c0857ccd262073 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Sat, 7 Dec 2019 00:16:55 +0100 Subject: [PATCH 16/38] [kvr] using new data from original kitchen --- cram_knowrob/cram_knowrob_vr/src/init.lisp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/init.lisp b/cram_knowrob/cram_knowrob_vr/src/init.lisp index a6dc16f7a8..fe6fc75088 100644 --- a/cram_knowrob/cram_knowrob_vr/src/init.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/init.lisp @@ -175,7 +175,10 @@ objects for debugging." (init-episode (or namedir ;; (loop for i from 1 to 18 collecting (format nil "ep~a" i)) - '("exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" + '( + "original1" "original2" "original3" "original4" "original5" + "original6" "original7" "original8" "original9" "original10" + ;; "exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" ))) From 3fe8c96dd6b772e63a75a082bbb611d362cbb0fe Mon Sep 17 00:00:00 2001 From: Ha Su Date: Wed, 4 Dec 2019 15:04:11 +0100 Subject: [PATCH 17/38] [kvr] cherry-pick camera poses fix --- cram_knowrob/cram_knowrob_vr/src/queries.lisp | 26 ++++++++++++++++--- 1 file changed, 23 insertions(+), 3 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/queries.lisp b/cram_knowrob/cram_knowrob_vr/src/queries.lisp index 1b331ffa19..26206ce6ea 100644 --- a/cram_knowrob/cram_knowrob_vr/src/queries.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/queries.lisp @@ -56,8 +56,8 @@ (defun base-query-string (object-type) (concatenate 'string - "obj_type(ObjInst, knowrob:'" object-type "'), - ep_inst(EpInst), + "ep_inst(EpInst), + obj_type(ObjInst, knowrob:'" object-type "'), u_occurs(EpInst, EventInst, Start, End), obj_type(EventInst, knowrob:'GraspingSomething'), rdf_has(EventInst, knowrob:'objectActedOn', ObjInst)")) @@ -87,6 +87,7 @@ (concatenate 'string (base-query-string object-type)", + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(ObjInst, _, ObjShortName), actor_pose(EpInst, ObjShortName, " start-or-end ", POSE).") :package :kvr))) @@ -103,7 +104,9 @@ (concatenate 'string (base-query-string object-type) ", - obj_type(CameraInst, knowrob:'CharacterCamera'), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(CameraInst, rdf:type, knowrob:'CharacterCamera'), + rdf_has(CameraInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(CameraInst, _, CameraShortName), actor_pose(EpInst, CameraShortName, " start-or-end ", PoseCameraStart).") :package :kvr))) @@ -132,9 +135,12 @@ (concatenate 'string (base-query-string object-type)", + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(ObjInst, _, ObjShortName), actor_pose(EpInst, ObjShortName, " start-or-end ", ObjPose), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), obj_type(CameraInst, knowrob:'CharacterCamera'), + rdf_has(CameraInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(CameraInst, _, CameraShortName), actor_pose(EpInst, CameraShortName, " start-or-end ", CameraPose).") :package :kvr))) @@ -176,6 +182,8 @@ in the currently loaded episode." (base-query-string object-type) ", performed_by(EventInst, HandInst), iri_xml_namespace(HandInst,_, HandInstShortName), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(HandInst, knowrob:'describedInMap', MapInst), actor_pose(EpInst, HandInstShortName, " start-or-end ", PoseHandStart).") :package :kvr))) @@ -203,10 +211,12 @@ in the currently loaded episode." (concatenate 'string (base-query-string object-type)", + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(ObjInst, _, ObjShortName), actor_pose(EpInst, ObjShortName, " start-or-end ", ObjPose), performed_by(EventInst, HandInst), iri_xml_namespace(HandInst, _, HandInstShortName), + rdf_has(HandInst, knowrob:'describedInMap', MapInst), actor_pose(EpInst, HandInstShortName, " start-or-end ", HandPose).") :package :kvr))) @@ -259,6 +269,8 @@ in the currently loaded episode." time_term(End, EndSeconds), EndWithOffset is EndSeconds + 1, time_between(" start-or-end "WithOffset, TouchStart, TouchEnd), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(Surface, knowrob:'describedInMap', MapInst), iri_xml_namespace(Surface, _, SurfaceShortName), actor_pose(EpInst, SurfaceShortName, Touch" start-or-end ", PoseSurface).") :package :kvr))) @@ -303,6 +315,8 @@ and the transform surface-T-object as a lazy list of pairs: time_term(End, EndSeconds), EndWithOffset is EndSeconds + 1, time_between(" start-or-end "WithOffset, TouchStart, TouchEnd), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(Surface, knowrob:'describedInMap', MapInst), iri_xml_namespace(Surface, _, SurfaceShortName), actor_pose(EpInst, SurfaceShortName, Touch" start-or-end ", SurfacePose), iri_xml_namespace(ObjInst, _, ObjShortName), @@ -371,6 +385,8 @@ and the transform surface-T-object as a lazy list of pairs: time_term(End, EndSeconds), EndWithOffset is EndSeconds + 1, time_between(" start-or-end "WithOffset, TouchStart, TouchEnd), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(Surface, knowrob:'describedInMap', MapInst), iri_xml_namespace(Surface, _, SurfaceShortName), actor_pose(EpInst, SurfaceShortName, Touch" start-or-end ", SurfacePose), object_dimensions(Surface, SurfaceDimX, SurfaceDimY, SurfaceDimZ), @@ -427,6 +443,7 @@ and the transform surface-T-camera as a lazy list of pairs: 'string (base-query-string object-type) ", event_type(TouchingEventInst, knowrob_u:'TouchingSituation'), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), rdf_has(TouchingEventInst, knowrob_u:'inContact', ObjInst), rdf_has(TouchingEventInst, knowrob_u:'inContact', Surface), not(ObjInst==Surface), @@ -436,8 +453,11 @@ and the transform surface-T-camera as a lazy list of pairs: EndWithOffset is EndSeconds + 1, time_between(" start-or-end "WithOffset, TouchStart, TouchEnd), iri_xml_namespace(Surface, _, SurfaceShortName), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + rdf_has(Surface, knowrob:'describedInMap', MapInst), actor_pose(EpInst, SurfaceShortName, Touch" start-or-end ", SurfacePose), obj_type(CameraInst, knowrob:'CharacterCamera'), + rdf_has(CameraInst, knowrob:'describedInMap', MapInst), iri_xml_namespace(CameraInst, _, CameraShortName), actor_pose(EpInst, CameraShortName, " start-or-end ", CameraPose), obj_type(Surface, SurfaceType), From c39c270732187cefb48cafc250d93133892e6f8b Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Mon, 9 Dec 2019 11:48:13 +0100 Subject: [PATCH 18/38] [kvr exp] added experiment data for heuristics boxy orig kitchen and heuristics pr2 new kitchen --- .../experiments/heuristics_boxy_failures.csv | 1203 +++++++++++++++++ .../heuristics_pr2_new_kitchen_failures.csv | 1203 +++++++++++++++++ 2 files changed, 2406 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv new file mode 100644 index 0000000000..5cb237b941 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv @@ -0,0 +1,1203 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,2,9,9,16.9717421532 +0,CUP,SUM,0,0,0,0,0,0,9,9.3507969379 +0,SPOON,SUM,0,0,0,0,0,2,0,11.3196239471 +0,,SUM,0,0,0,0,2,11,18,37.6421630383 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,14,3,2,20.4612090588 +1,CUP,SUM,0,0,0,0,0,2,37,19.2070088387 +1,SPOON,SUM,0,0,0,0,0,1,0,12.7714338303 +1,,SUM,0,0,0,0,14,6,39,52.4396517277 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,0,0,0,0,0,1,0,7.7722299099 +2,CUP,SUM,0,0,0,0,0,6,9,9.5963861942 +2,SPOON,SUM,0,0,0,0,0,16,0,14.573086977 +2,,SUM,0,0,0,0,0,23,9,31.9417030811 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,0,0,0,0,0,3,0,8.2646989822 +3,CUP,SUM,0,0,0,0,0,1,27,13.6423377991 +3,SPOON,SUM,0,0,0,0,0,1,0,11.5122010708 +3,,SUM,0,0,0,0,0,5,27,33.4192378521 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,0,0,0,0,8,10,34,23.7731590271 +4,CUP,SUM,0,0,0,0,2,0,9,10.6240410805 +4,SPOON,SUM,0,0,0,0,0,5,6,14.2518231869 +4,,SUM,0,0,0,0,10,15,49,48.6490232944 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,0,0,0,0,8,6,9,16.1566970348 +5,CUP,SUM,0,0,0,0,0,3,21,12.8821470737 +5,SPOON,SUM,0,0,0,0,8,3,0,15.3631789684 +5,,SUM,0,0,0,0,16,12,30,44.402023077 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,1,0,1,0,0,8,44,0 +6,CUP,SUM,0,0,0,0,8,4,28,19.1580660343 +6,SPOON,SUM,0,0,0,0,8,1,0,16.1478590965 +6,,SUM,1,0,1,0,16,13,72,35.3059251308 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,0,0,0,0,0,1,0,9.707310915 +7,CUP,SUM,0,0,0,0,2,2,8,9.6947798729 +7,SPOON,SUM,0,0,0,0,0,4,0,13.0249509811 +7,,SUM,0,0,0,0,2,7,8,32.427041769 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,0,0,0,0,16,2,1,15.8578429222 +8,CUP,SUM,1,0,1,0,16,9,51,0 +8,SPOON,SUM,0,0,0,0,0,0,0,10.6815829277 +8,,SUM,1,0,1,0,32,11,52,26.5394258499 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,0,0,0,0,8,5,1,16.6525259018 +9,CUP,SUM,1,0,1,0,0,8,77,0 +9,SPOON,SUM,0,0,0,0,2,8,5,17.160061121 +9,,SUM,1,0,1,0,10,21,83,33.8125870228 +9,,,,,,,,,, +10,,,,,,,,,, +10,BOWL,SUM,0,0,0,0,0,1,4,11.2783408165 +10,CUP,SUM,0,0,0,0,2,2,9,10.6009430885 +10,SPOON,SUM,1,0,1,0,8,11,46,0 +10,,SUM,1,0,1,0,10,14,59,21.879283905 +10,,,,,,,,,, +11,,,,,,,,,, +11,BOWL,SUM,0,0,0,0,8,1,0,12.5772099495 +11,CUP,SUM,0,0,0,0,16,13,21,26.2377009392 +11,SPOON,SUM,0,0,0,0,2,4,4,14.1772770882 +11,,SUM,0,0,0,0,26,18,25,52.9921879768 +11,,,,,,,,,, +12,,,,,,,,,, +12,BOWL,SUM,0,0,0,0,2,2,0,8.9823708534 +12,CUP,SUM,0,0,0,0,0,0,8,8.8555550575 +12,SPOON,SUM,0,0,0,0,0,2,0,11.5703251362 +12,,SUM,0,0,0,0,2,4,8,29.4082510471 +12,,,,,,,,,, +13,,,,,,,,,, +13,BOWL,SUM,0,0,0,0,0,4,12,14.0004370213 +13,CUP,SUM,0,0,0,0,0,1,18,11.6863739491 +13,SPOON,SUM,0,0,0,0,0,3,13,26.2072279453 +13,,SUM,0,0,0,0,0,8,43,51.8940389156 +13,,,,,,,,,, +14,,,,,,,,,, +14,BOWL,SUM,0,0,0,0,8,7,0,20.3477108479 +14,CUP,SUM,0,0,0,0,0,4,8,9.0264968872 +14,SPOON,SUM,0,0,0,0,0,0,0,11.8731069565 +14,,SUM,0,0,0,0,8,11,8,41.2473146915 +14,,,,,,,,,, +15,,,,,,,,,, +15,BOWL,SUM,0,0,0,0,16,0,0,17.3071060181 +15,CUP,SUM,1,0,1,0,0,22,135,0 +15,SPOON,SUM,0,0,0,0,0,3,4,11.158069849 +15,,SUM,1,0,1,0,16,25,139,28.4651758671 +15,,,,,,,,,, +16,,,,,,,,,, +16,BOWL,SUM,0,0,0,0,0,2,1,10.1254820824 +16,CUP,SUM,0,0,0,0,0,2,8,8.728292942 +16,SPOON,SUM,0,0,0,0,0,3,0,11.8376059532 +16,,SUM,0,0,0,0,0,7,9,30.6913809776 +16,,,,,,,,,, +17,,,,,,,,,, +17,BOWL,SUM,0,0,0,0,0,21,0,10.954241991 +17,CUP,SUM,1,0,1,0,0,17,119,0 +17,SPOON,SUM,0,0,0,0,8,1,0,18.6359820366 +17,,SUM,1,0,1,0,8,39,119,29.5902240276 +17,,,,,,,,,, +18,,,,,,,,,, +18,BOWL,SUM,0,0,0,0,2,0,0,9.6949870586 +18,CUP,SUM,0,0,0,0,16,8,23,27.3437838554 +18,SPOON,SUM,0,0,0,0,0,3,0,11.921710968 +18,,SUM,0,0,0,0,18,11,23,48.9604818821 +18,,,,,,,,,, +19,,,,,,,,,, +19,BOWL,SUM,0,0,0,0,0,2,16,15.3963210583 +19,CUP,SUM,0,0,0,0,8,3,8,13.2041780949 +19,SPOON,SUM,0,0,0,0,8,8,0,16.7728919983 +19,,SUM,0,0,0,0,16,13,24,45.3733911514 +19,,,,,,,,,, +20,,,,,,,,,, +20,BOWL,SUM,0,0,0,0,8,17,4,14.6609909534 +20,CUP,SUM,0,0,0,0,0,0,8,8.3860759735 +20,SPOON,SUM,0,0,0,0,0,2,2,12.1838591099 +20,,SUM,0,0,0,0,8,19,14,35.2309260368 +20,,,,,,,,,, +21,,,,,,,,,, +21,BOWL,SUM,0,0,0,0,0,5,0,9.230670929 +21,CUP,SUM,0,0,0,0,0,1,9,9.5877718925 +21,SPOON,SUM,0,0,0,0,0,1,0,12.4756240845 +21,,SUM,0,0,0,0,0,7,9,31.294066906 +21,,,,,,,,,, +22,,,,,,,,,, +22,BOWL,SUM,1,0,1,0,0,10,42,0 +22,CUP,SUM,0,0,0,0,0,3,28,20.4541969299 +22,SPOON,SUM,0,0,0,0,0,11,28,31.9305028915 +22,,SUM,1,0,1,0,0,24,98,52.3846998215 +22,,,,,,,,,, +23,,,,,,,,,, +23,BOWL,SUM,0,0,0,0,0,2,8,11.4138410091 +23,CUP,SUM,0,0,0,0,0,4,8,8.707971096 +23,SPOON,SUM,0,0,0,0,0,7,0,12.1867408752 +23,,SUM,0,0,0,0,0,13,16,32.3085529804 +23,,,,,,,,,, +24,,,,,,,,,, +24,BOWL,SUM,0,0,0,0,8,21,11,20.2077829838 +24,CUP,SUM,1,0,1,0,0,8,53,0 +24,SPOON,SUM,0,0,0,0,0,11,4,15.0933139324 +24,,SUM,1,0,1,0,8,40,68,35.3010969162 +24,,,,,,,,,, +25,,,,,,,,,, +25,BOWL,SUM,0,0,0,0,0,1,1,10.5093741417 +25,CUP,SUM,0,0,0,0,0,5,20,13.6296570301 +25,SPOON,SUM,0,0,0,0,0,3,0,12.8190040588 +25,,SUM,0,0,0,0,0,9,21,36.9580352306 +25,,,,,,,,,, +26,,,,,,,,,, +26,BOWL,SUM,0,0,0,0,0,2,0,8.7630689144 +26,CUP,SUM,0,0,0,0,0,6,67,29.5159230232 +26,SPOON,SUM,0,0,0,0,2,5,0,14.0800030231 +26,,SUM,0,0,0,0,2,13,67,52.3589949608 +26,,,,,,,,,, +27,,,,,,,,,, +27,BOWL,SUM,0,0,0,0,0,12,15,15.7760391235 +27,CUP,SUM,1,0,1,0,4,7,63,0 +27,SPOON,SUM,0,0,0,0,0,1,0,11.1880750656 +27,,SUM,1,0,1,0,4,20,78,26.9641141891 +27,,,,,,,,,, +28,,,,,,,,,, +28,BOWL,SUM,0,0,0,0,8,0,0,12.2287199497 +28,CUP,SUM,0,0,0,0,2,5,14,15.2370860577 +28,SPOON,SUM,0,0,0,0,0,1,0,11.9742369652 +28,,SUM,0,0,0,0,10,6,14,39.4400429726 +28,,,,,,,,,, +29,,,,,,,,,, +29,BOWL,SUM,0,0,0,0,0,1,12,12.2445600033 +29,CUP,SUM,0,0,0,0,2,3,8,9.5869560242 +29,SPOON,SUM,0,0,0,0,0,1,0,11.8435199261 +29,,SUM,0,0,0,0,2,5,20,33.6750359535 +29,,,,,,,,,, +30,,,,,,,,,, +30,BOWL,SUM,0,0,0,0,8,2,0,13.2759017944 +30,CUP,SUM,1,0,1,0,8,9,78,0 +30,SPOON,SUM,0,0,0,0,0,0,0,11.5793261528 +30,,SUM,1,0,1,0,16,11,78,24.8552279472 +30,,,,,,,,,, +31,,,,,,,,,, +31,BOWL,SUM,0,0,0,0,0,5,1,10.5650980473 +31,CUP,SUM,0,0,0,0,56,7,13,39.4731760025 +31,SPOON,SUM,0,0,0,0,0,6,5,15.2004930973 +31,,SUM,0,0,0,0,56,18,19,65.2387671471 +31,,,,,,,,,, +32,,,,,,,,,, +32,BOWL,SUM,0,0,0,0,0,6,4,9.5678398609 +32,CUP,SUM,0,0,0,0,0,4,17,13.4210259914 +32,SPOON,SUM,0,0,0,0,0,10,19,21.6733129025 +32,,SUM,0,0,0,0,0,20,40,44.6621787548 +32,,,,,,,,,, +33,,,,,,,,,, +33,BOWL,SUM,0,0,0,0,0,7,1,11.9677848816 +33,CUP,SUM,0,0,0,0,0,0,8,8.0657060146 +33,SPOON,SUM,0,0,0,0,0,3,0,12.6144011021 +33,,SUM,0,0,0,0,0,10,9,32.6478919983 +33,,,,,,,,,, +34,,,,,,,,,, +34,BOWL,SUM,0,0,0,0,0,22,12,17.4163069725 +34,CUP,SUM,0,0,0,0,0,16,20,15.4738252163 +34,SPOON,SUM,0,0,0,0,2,9,0,13.774533987 +34,,SUM,0,0,0,0,2,47,32,46.6646661758 +34,,,,,,,,,, +35,,,,,,,,,, +35,BOWL,SUM,0,0,0,0,0,4,12,13.4264099598 +35,CUP,SUM,0,0,0,0,0,7,42,20.0566101074 +35,SPOON,SUM,0,0,0,0,0,1,0,11.6704871655 +35,,SUM,0,0,0,0,0,12,54,45.1535072327 +35,,,,,,,,,, +36,,,,,,,,,, +36,BOWL,SUM,0,0,0,0,18,5,28,27.5118420124 +36,CUP,SUM,0,0,0,0,0,9,8,9.7879698277 +36,SPOON,SUM,0,0,0,0,0,7,0,12.2516438961 +36,,SUM,0,0,0,0,18,21,36,49.5514557362 +36,,,,,,,,,, +37,,,,,,,,,, +37,BOWL,SUM,0,0,0,0,0,5,14,15.6454558372 +37,CUP,SUM,0,0,0,0,0,14,8,10.7782480717 +37,SPOON,SUM,1,0,1,0,0,14,11,0 +37,,SUM,1,0,1,0,0,33,33,26.4237039089 +37,,,,,,,,,, +38,,,,,,,,,, +38,BOWL,SUM,0,0,0,0,0,4,5,14.1167960167 +38,CUP,SUM,0,0,0,0,4,1,13,12.5199439526 +38,SPOON,SUM,0,0,0,0,16,13,4,36.6234500408 +38,,SUM,0,0,0,0,20,18,22,63.2601900101 +38,,,,,,,,,, +39,,,,,,,,,, +39,BOWL,SUM,0,0,0,0,0,6,0,10.3418669701 +39,CUP,SUM,0,0,0,0,24,16,34,32.7770171165 +39,SPOON,SUM,0,0,0,0,0,3,2,16.1665430069 +39,,SUM,0,0,0,0,24,25,36,59.2854270935 +39,,,,,,,,,, +40,,,,,,,,,, +40,BOWL,SUM,0,0,0,0,2,9,9,16.9705109596 +40,CUP,SUM,0,0,0,0,0,0,9,9.6154749393 +40,SPOON,SUM,0,0,0,0,0,2,0,11.5821318626 +40,,SUM,0,0,0,0,2,11,18,38.1681177616 +40,,,,,,,,,, +41,,,,,,,,,, +41,BOWL,SUM,0,0,0,0,14,3,2,20.8754580021 +41,CUP,SUM,0,0,0,0,0,2,37,19.9478378296 +41,SPOON,SUM,0,0,0,0,0,1,0,12.5008699894 +41,,SUM,0,0,0,0,14,6,39,53.3241658211 +41,,,,,,,,,, +42,,,,,,,,,, +42,BOWL,SUM,0,0,0,0,0,1,0,7.5073490143 +42,CUP,SUM,0,0,0,0,0,6,9,9.8881540298 +42,SPOON,SUM,0,0,0,0,0,16,0,14.7964019775 +42,,SUM,0,0,0,0,0,23,9,32.1919050217 +42,,,,,,,,,, +43,,,,,,,,,, +43,BOWL,SUM,0,0,0,0,0,3,0,7.903952837 +43,CUP,SUM,0,0,0,0,0,1,27,13.9570481777 +43,SPOON,SUM,0,0,0,0,0,1,0,11.8767831326 +43,,SUM,0,0,0,0,0,5,27,33.7377841473 +43,,,,,,,,,, +44,,,,,,,,,, +44,BOWL,SUM,0,0,0,0,8,10,34,24.576764822 +44,CUP,SUM,0,0,0,0,2,0,9,11.0100951195 +44,SPOON,SUM,0,0,0,0,0,5,6,14.1839520931 +44,,SUM,0,0,0,0,10,15,49,49.7708120346 +44,,,,,,,,,, +45,,,,,,,,,, +45,BOWL,SUM,0,0,0,0,8,6,9,16.3589339256 +45,CUP,SUM,0,0,0,0,0,3,21,12.9235911369 +45,SPOON,SUM,0,0,0,0,8,3,0,15.5897431374 +45,,SUM,0,0,0,0,16,12,30,44.8722681999 +45,,,,,,,,,, +46,,,,,,,,,, +46,BOWL,SUM,1,0,1,0,0,8,44,0 +46,CUP,SUM,0,0,0,0,8,4,28,19.3622040749 +46,SPOON,SUM,0,0,0,0,8,1,0,16.2506937981 +46,,SUM,1,0,1,0,16,13,72,35.6128978729 +46,,,,,,,,,, +47,,,,,,,,,, +47,BOWL,SUM,0,0,0,0,0,1,0,9.3366611004 +47,CUP,SUM,0,0,0,0,2,2,8,9.9086480141 +47,SPOON,SUM,0,0,0,0,0,4,0,13.2733139992 +47,,SUM,0,0,0,0,2,7,8,32.5186231136 +47,,,,,,,,,, +48,,,,,,,,,, +48,BOWL,SUM,0,0,0,0,16,2,1,15.4800958633 +48,CUP,SUM,1,0,1,0,16,9,51,0 +48,SPOON,SUM,0,0,0,0,0,0,0,10.7432470322 +48,,SUM,1,0,1,0,32,11,52,26.2233428955 +48,,,,,,,,,, +49,,,,,,,,,, +49,BOWL,SUM,0,0,0,0,8,5,1,15.9619131088 +49,CUP,SUM,1,0,1,0,0,8,77,0 +49,SPOON,SUM,0,0,0,0,2,8,5,16.8286688328 +49,,SUM,1,0,1,0,10,21,83,32.7905819416 +49,,,,,,,,,, +50,,,,,,,,,, +50,BOWL,SUM,0,0,0,0,0,1,4,11.3818280697 +50,CUP,SUM,0,0,0,0,2,2,9,10.2579791546 +50,SPOON,SUM,1,0,1,0,8,11,46,0 +50,,SUM,1,0,1,0,10,14,59,21.6398072243 +50,,,,,,,,,, +51,,,,,,,,,, +51,BOWL,SUM,0,0,0,0,8,1,0,12.1865301132 +51,CUP,SUM,0,0,0,0,16,13,21,26.327188015 +51,SPOON,SUM,0,0,0,0,2,4,4,14.2243080139 +51,,SUM,0,0,0,0,26,18,25,52.7380261421 +51,,,,,,,,,, +52,,,,,,,,,, +52,BOWL,SUM,0,0,0,0,2,2,0,8.9843690395 +52,CUP,SUM,0,0,0,0,0,0,8,8.7611358166 +52,SPOON,SUM,0,0,0,0,0,2,0,12.0582890511 +52,,SUM,0,0,0,0,2,4,8,29.8037939072 +52,,,,,,,,,, +53,,,,,,,,,, +53,BOWL,SUM,0,0,0,0,0,4,12,13.9443809986 +53,CUP,SUM,0,0,0,0,0,1,18,11.4342019558 +53,SPOON,SUM,0,0,0,0,0,3,13,26.958147049 +53,,SUM,0,0,0,0,0,8,43,52.3367300034 +53,,,,,,,,,, +54,,,,,,,,,, +54,BOWL,SUM,0,0,0,0,8,7,0,20.0399370193 +54,CUP,SUM,0,0,0,0,0,4,8,9.0392341614 +54,SPOON,SUM,0,0,0,0,0,0,0,11.9590539932 +54,,SUM,0,0,0,0,8,11,8,41.038225174 +54,,,,,,,,,, +55,,,,,,,,,, +55,BOWL,SUM,0,0,0,0,16,0,0,17.2234749794 +55,CUP,SUM,1,0,1,0,0,22,135,0 +55,SPOON,SUM,0,0,0,0,0,3,4,11.0856480598 +55,,SUM,1,0,1,0,16,25,139,28.3091230392 +55,,,,,,,,,, +56,,,,,,,,,, +56,BOWL,SUM,0,0,0,0,0,2,1,10.0545377731 +56,CUP,SUM,0,0,0,0,0,2,8,8.7348787785 +56,SPOON,SUM,0,0,0,0,0,3,0,11.915060997 +56,,SUM,0,0,0,0,0,7,9,30.7044775486 +56,,,,,,,,,, +57,,,,,,,,,, +57,BOWL,SUM,0,0,0,0,0,21,0,10.7666630745 +57,CUP,SUM,1,0,1,0,0,17,119,0 +57,SPOON,SUM,0,0,0,0,8,1,0,18.182464838 +57,,SUM,1,0,1,0,8,39,119,28.9491279125 +57,,,,,,,,,, +58,,,,,,,,,, +58,BOWL,SUM,0,0,0,0,2,0,0,9.4779970646 +58,CUP,SUM,0,0,0,0,16,8,23,27.578758955 +58,SPOON,SUM,0,0,0,0,0,3,0,12.3301131725 +58,,SUM,0,0,0,0,18,11,23,49.3868691921 +58,,,,,,,,,, +59,,,,,,,,,, +59,BOWL,SUM,0,0,0,0,0,2,16,15.3572249413 +59,CUP,SUM,0,0,0,0,8,3,8,13.2178461552 +59,SPOON,SUM,0,0,0,0,8,8,0,16.7570710182 +59,,SUM,0,0,0,0,16,13,24,45.3321421146 +59,,,,,,,,,, +60,,,,,,,,,, +60,BOWL,SUM,0,0,0,0,8,17,4,14.5749878883 +60,CUP,SUM,0,0,0,0,0,0,8,8.6219570637 +60,SPOON,SUM,0,0,0,0,0,2,2,12.4710600376 +60,,SUM,0,0,0,0,8,19,14,35.6680049896 +60,,,,,,,,,, +61,,,,,,,,,, +61,BOWL,SUM,0,0,0,0,0,5,0,9.4131758213 +61,CUP,SUM,0,0,0,0,0,1,9,9.2570340633 +61,SPOON,SUM,0,0,0,0,0,1,0,12.6277678013 +61,,SUM,0,0,0,0,0,7,9,31.2979776859 +61,,,,,,,,,, +62,,,,,,,,,, +62,BOWL,SUM,1,0,1,0,0,10,42,0 +62,CUP,SUM,0,0,0,0,0,3,28,21.1628861427 +62,SPOON,SUM,0,0,0,0,0,11,28,32.5177648067 +62,,SUM,1,0,1,0,0,24,98,53.6806509495 +62,,,,,,,,,, +63,,,,,,,,,, +63,BOWL,SUM,0,0,0,0,0,2,8,11.7775421143 +63,CUP,SUM,0,0,0,0,0,4,8,8.9378311634 +63,SPOON,SUM,0,0,0,0,0,7,0,12.4155600071 +63,,SUM,0,0,0,0,0,13,16,33.1309332848 +63,,,,,,,,,, +64,,,,,,,,,, +64,BOWL,SUM,0,0,0,0,8,21,11,20.5141060352 +64,CUP,SUM,1,0,1,0,0,8,53,0 +64,SPOON,SUM,0,0,0,0,0,11,4,14.9224128723 +64,,SUM,1,0,1,0,8,40,68,35.4365189075 +64,,,,,,,,,, +65,,,,,,,,,, +65,BOWL,SUM,0,0,0,0,0,1,1,10.4428038597 +65,CUP,SUM,0,0,0,0,0,5,20,14.1611599922 +65,SPOON,SUM,0,0,0,0,0,3,0,12.5926070213 +65,,SUM,0,0,0,0,0,9,21,37.1965708733 +65,,,,,,,,,, +66,,,,,,,,,, +66,BOWL,SUM,0,0,0,0,0,2,0,8.6577911377 +66,CUP,SUM,0,0,0,0,0,6,67,30.5818729401 +66,SPOON,SUM,0,0,0,0,2,5,0,13.8763139248 +66,,SUM,0,0,0,0,2,13,67,53.1159780025 +66,,,,,,,,,, +67,,,,,,,,,, +67,BOWL,SUM,0,0,0,0,0,12,15,15.9300789833 +67,CUP,SUM,1,0,1,0,4,7,63,0 +67,SPOON,SUM,0,0,0,0,0,1,0,11.2523219585 +67,,SUM,1,0,1,0,4,20,78,27.1824009418 +67,,,,,,,,,, +68,,,,,,,,,, +68,BOWL,SUM,0,0,0,0,8,0,0,11.6198208332 +68,CUP,SUM,0,0,0,0,2,5,14,15.6083889008 +68,SPOON,SUM,0,0,0,0,0,1,0,12.0422189236 +68,,SUM,0,0,0,0,10,6,14,39.2704286575 +68,,,,,,,,,, +69,,,,,,,,,, +69,BOWL,SUM,0,0,0,0,0,1,12,12.202881813 +69,CUP,SUM,0,0,0,0,2,3,8,9.9741330147 +69,SPOON,SUM,0,0,0,0,0,1,0,11.9872598648 +69,,SUM,0,0,0,0,2,5,20,34.1642746925 +69,,,,,,,,,, +70,,,,,,,,,, +70,BOWL,SUM,0,0,0,0,8,2,0,13.1749141216 +70,CUP,SUM,1,0,1,0,8,9,78,0 +70,SPOON,SUM,0,0,0,0,0,0,0,11.2089328766 +70,,SUM,1,0,1,0,16,11,78,24.3838469982 +70,,,,,,,,,, +71,,,,,,,,,, +71,BOWL,SUM,0,0,0,0,0,5,1,10.6148161888 +71,CUP,SUM,0,0,0,0,56,7,13,39.7586920261 +71,SPOON,SUM,0,0,0,0,0,6,5,15.0494308472 +71,,SUM,0,0,0,0,56,18,19,65.4229390621 +71,,,,,,,,,, +72,,,,,,,,,, +72,BOWL,SUM,0,0,0,0,0,6,4,9.8789288998 +72,CUP,SUM,0,0,0,0,0,4,17,13.5467891693 +72,SPOON,SUM,0,0,0,0,0,10,19,22.0361969471 +72,,SUM,0,0,0,0,0,20,40,45.4619150162 +72,,,,,,,,,, +73,,,,,,,,,, +73,BOWL,SUM,0,0,0,0,0,7,1,11.9781820774 +73,CUP,SUM,0,0,0,0,0,0,8,8.0586650372 +73,SPOON,SUM,0,0,0,0,0,3,0,12.7171919346 +73,,SUM,0,0,0,0,0,10,9,32.7540390491 +73,,,,,,,,,, +74,,,,,,,,,, +74,BOWL,SUM,0,0,0,0,8,8,0,13.1716458797 +74,CUP,SUM,0,0,0,0,0,16,26,17.0292191505 +74,SPOON,SUM,0,0,0,0,2,0,0,12.8939201832 +74,,SUM,0,0,0,0,10,24,26,43.0947852135 +74,,,,,,,,,, +75,,,,,,,,,, +75,BOWL,SUM,1,0,0,1,8,8,35,0 +75,CUP,SUM,0,0,0,0,10,7,52,32.3454859257 +75,SPOON,SUM,0,0,0,0,0,3,9,16.6799402237 +75,,SUM,1,0,0,1,18,18,96,49.0254261494 +75,,,,,,,,,, +76,,,,,,,,,, +76,BOWL,SUM,0,0,0,0,0,2,8,17.6890158653 +76,CUP,SUM,0,0,0,0,0,2,31,18.3480980396 +76,SPOON,SUM,0,0,0,0,0,2,0,11.5113668442 +76,,SUM,0,0,0,0,0,6,39,47.5484807491 +76,,,,,,,,,, +77,,,,,,,,,, +77,BOWL,SUM,0,0,0,0,0,1,0,8.2897741795 +77,CUP,SUM,0,0,0,0,8,0,8,11.8973419666 +77,SPOON,SUM,0,0,0,0,0,16,22,20.7913160324 +77,,SUM,0,0,0,0,8,17,30,40.9784321785 +77,,,,,,,,,, +78,,,,,,,,,, +78,BOWL,SUM,0,0,0,0,2,2,3,13.7646708488 +78,CUP,SUM,0,0,0,0,0,6,8,10.6656548977 +78,SPOON,SUM,0,0,0,0,0,3,0,12.6343328953 +78,,SUM,0,0,0,0,2,11,11,37.0646586418 +78,,,,,,,,,, +79,,,,,,,,,, +79,BOWL,SUM,0,0,0,0,0,13,10,12.8353478909 +79,CUP,SUM,0,0,0,0,8,7,8,13.6929280758 +79,SPOON,SUM,0,0,0,0,8,8,5,24.2914118767 +79,,SUM,0,0,0,0,16,28,23,50.8196878433 +79,,,,,,,,,, +80,,,,,,,,,, +80,BOWL,SUM,0,0,0,0,0,0,0,8.8202590942 +80,CUP,SUM,0,0,0,0,10,6,46,29.2234630585 +80,SPOON,SUM,0,0,0,0,8,0,0,16.5579969883 +80,,SUM,0,0,0,0,18,6,46,54.601719141 +80,,,,,,,,,, +81,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,0,3,0,9.3924088478 +81,CUP,SUM,0,0,0,0,0,1,9,9.9047038555 +81,SPOON,SUM,0,0,0,0,0,7,1,14.0745661259 +81,,SUM,0,0,0,0,0,11,10,33.3716788292 +81,,,,,,,,,, +82,,,,,,,,,, +82,BOWL,SUM,0,0,0,0,16,1,8,21.037596941 +82,CUP,SUM,0,0,0,0,2,5,8,10.0474328995 +82,SPOON,SUM,0,0,0,0,0,0,4,13.4084510803 +82,,SUM,0,0,0,0,18,6,20,44.4934809208 +82,,,,,,,,,, +83,,,,,,,,,, +83,BOWL,SUM,0,0,0,0,0,1,0,9.2715330124 +83,CUP,SUM,0,0,0,0,0,2,9,9.9233140945 +83,SPOON,SUM,0,0,0,0,0,7,0,13.6907441616 +83,,SUM,0,0,0,0,0,10,9,32.8855912685 +83,,,,,,,,,, +84,,,,,,,,,, +84,BOWL,SUM,1,0,1,0,0,7,50,0 +84,CUP,SUM,0,0,0,0,0,6,46,21.3091490269 +84,SPOON,SUM,0,0,0,0,0,5,0,13.0033919811 +84,,SUM,1,0,1,0,0,18,96,34.312541008 +84,,,,,,,,,, +85,,,,,,,,,, +85,BOWL,SUM,0,0,0,0,0,1,2,9.81153512 +85,CUP,SUM,1,0,1,0,2,7,82,0 +85,SPOON,SUM,0,0,0,0,0,7,24,22.0011050701 +85,,SUM,1,0,1,0,2,15,108,31.8126401901 +85,,,,,,,,,, +86,,,,,,,,,, +86,BOWL,SUM,0,0,0,0,20,4,24,30.3210780621 +86,CUP,SUM,0,0,0,0,0,6,67,31.7467520237 +86,SPOON,SUM,0,0,0,0,2,3,0,12.543628931 +86,,SUM,0,0,0,0,22,13,91,74.6114590168 +86,,,,,,,,,, +87,,,,,,,,,, +87,BOWL,SUM,0,0,0,0,0,3,0,8.8535299301 +87,CUP,SUM,0,0,0,0,0,6,10,11.5513458252 +87,SPOON,SUM,0,0,0,0,8,10,1,18.9038031101 +87,,SUM,0,0,0,0,8,19,11,39.3086788654 +87,,,,,,,,,, +88,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,0,2,0,8.176787138 +88,CUP,SUM,0,0,0,0,0,7,25,14.5087330341 +88,SPOON,SUM,0,0,0,0,0,3,1,14.4591498375 +88,,SUM,0,0,0,0,0,12,26,37.1446700096 +88,,,,,,,,,, +89,,,,,,,,,, +89,BOWL,SUM,0,0,0,0,0,1,1,10.9441628456 +89,CUP,SUM,0,0,0,0,0,2,8,8.7023880482 +89,SPOON,SUM,0,0,0,0,0,0,0,11.8025960922 +89,,SUM,0,0,0,0,0,3,9,31.449146986 +89,,,,,,,,,, +90,,,,,,,,,, +90,BOWL,SUM,0,0,0,0,10,13,2,17.6294960976 +90,CUP,SUM,0,0,0,0,2,0,8,9.3437690735 +90,SPOON,SUM,0,0,0,0,0,3,4,15.9582970142 +90,,SUM,0,0,0,0,12,16,14,42.9315621853 +90,,,,,,,,,, +91,,,,,,,,,, +91,BOWL,SUM,0,0,0,0,8,4,18,21.1909818649 +91,CUP,SUM,0,0,0,0,2,5,49,26.1136558056 +91,SPOON,SUM,0,0,0,0,0,7,17,23.8210988045 +91,,SUM,0,0,0,0,10,16,84,71.125736475 +91,,,,,,,,,, +92,,,,,,,,,, +92,BOWL,SUM,0,0,0,0,0,9,0,9.7193210125 +92,CUP,SUM,0,0,0,0,8,3,8,13.6172029972 +92,SPOON,SUM,0,0,0,0,14,5,0,22.2221279144 +92,,SUM,0,0,0,0,22,17,8,45.5586519241 +92,,,,,,,,,, +93,,,,,,,,,, +93,BOWL,SUM,1,0,1,0,0,6,44,0 +93,CUP,SUM,0,0,0,0,0,1,11,10.3774721622 +93,SPOON,SUM,0,0,0,0,0,1,0,11.7362718582 +93,,SUM,1,0,1,0,0,8,55,22.1137440205 +93,,,,,,,,,, +94,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,2,0,4,9.5504350662 +94,CUP,SUM,0,0,0,0,0,4,17,12.5650060177 +94,SPOON,SUM,0,0,0,0,0,1,8,14.831182003 +94,,SUM,0,0,0,0,2,5,29,36.9466230869 +94,,,,,,,,,, +95,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,2,9,9,16.8295280933 +95,CUP,SUM,0,0,0,0,0,0,9,9.8726351261 +95,SPOON,SUM,0,0,0,0,0,2,0,11.1721999645 +95,,SUM,0,0,0,0,2,11,18,37.874363184 +95,,,,,,,,,, +96,,,,,,,,,, +96,BOWL,SUM,0,0,0,0,14,3,2,21.2055969238 +96,CUP,SUM,0,0,0,0,0,2,37,20.6349389553 +96,SPOON,SUM,0,0,0,0,0,1,0,12.838547945 +96,,SUM,0,0,0,0,14,6,39,54.6790838242 +96,,,,,,,,,, +97,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,1,0,7.5711941719 +97,CUP,SUM,0,0,0,0,0,6,9,9.9341030121 +97,SPOON,SUM,0,0,0,0,0,16,0,14.9681229591 +97,,SUM,0,0,0,0,0,23,9,32.4734201431 +97,,,,,,,,,, +98,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,3,0,8.077917099 +98,CUP,SUM,0,0,0,0,0,1,27,14.1048429012 +98,SPOON,SUM,0,0,0,0,0,1,0,12.1434412003 +98,,SUM,0,0,0,0,0,5,27,34.3262012005 +98,,,,,,,,,, +99,,,,,,,,,, +99,BOWL,SUM,0,0,0,0,8,10,34,24.9848151207 +99,CUP,SUM,0,0,0,0,2,0,9,11.6440911293 +99,SPOON,SUM,0,0,0,0,0,5,6,14.6617000103 +99,,SUM,0,0,0,0,10,15,49,51.2906062603 +99,,,,,,,,,, +100,,,,,,,,,, +100,BOWL,SUM,0,0,0,0,8,6,9,16.6319000721 +100,CUP,SUM,0,0,0,0,0,3,21,13.7950179577 +100,SPOON,SUM,0,0,0,0,8,3,0,16.1928889751 +100,,SUM,0,0,0,0,16,12,30,46.6198070049 +100,,,,,,,,,, +101,,,,,,,,,, +101,BOWL,SUM,1,0,1,0,0,8,44,0 +101,CUP,SUM,0,0,0,0,8,4,28,20.0306360722 +101,SPOON,SUM,0,0,0,0,8,1,0,16.71179986 +101,,SUM,1,0,1,0,16,13,72,36.7424359322 +101,,,,,,,,,, +102,,,,,,,,,, +102,BOWL,SUM,0,0,0,0,0,1,0,9.5115101337 +102,CUP,SUM,0,0,0,0,2,2,8,9.9822981358 +102,SPOON,SUM,0,0,0,0,0,4,0,13.7404060364 +102,,SUM,0,0,0,0,2,7,8,33.2342143059 +102,,,,,,,,,, +103,,,,,,,,,, +103,BOWL,SUM,0,0,0,0,16,2,1,15.6639871597 +103,CUP,SUM,1,0,1,0,16,9,51,0 +103,SPOON,SUM,0,0,0,0,0,0,0,11.109803915 +103,,SUM,1,0,1,0,32,11,52,26.7737910748 +103,,,,,,,,,, +104,,,,,,,,,, +104,BOWL,SUM,0,0,0,0,8,5,1,16.3822968006 +104,CUP,SUM,1,0,1,0,0,8,77,0 +104,SPOON,SUM,0,0,0,0,2,8,5,17.3608489037 +104,,SUM,1,0,1,0,10,21,83,33.7431457043 +104,,,,,,,,,, +105,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,0,1,4,11.5469229221 +105,CUP,SUM,0,0,0,0,2,2,9,10.271479845 +105,SPOON,SUM,1,0,1,0,8,11,46,0 +105,,SUM,1,0,1,0,10,14,59,21.8184027672 +105,,,,,,,,,, +106,,,,,,,,,, +106,BOWL,SUM,0,0,0,0,8,1,0,12.520072937 +106,CUP,SUM,0,0,0,0,16,13,21,26.7877368927 +106,SPOON,SUM,0,0,0,0,2,4,4,14.6401979923 +106,,SUM,0,0,0,0,26,18,25,53.948007822 +106,,,,,,,,,, +107,,,,,,,,,, +107,BOWL,SUM,0,0,0,0,2,2,0,8.8939509392 +107,CUP,SUM,0,0,0,0,0,0,8,8.7469089031 +107,SPOON,SUM,0,0,0,0,0,2,0,12.1294250488 +107,,SUM,0,0,0,0,2,4,8,29.7702848911 +107,,,,,,,,,, +108,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,0,4,12,14.0969569683 +108,CUP,SUM,0,0,0,0,0,1,18,11.749614954 +108,SPOON,SUM,0,0,0,0,0,3,13,26.8417870998 +108,,SUM,0,0,0,0,0,8,43,52.6883590221 +108,,,,,,,,,, +109,,,,,,,,,, +109,BOWL,SUM,0,0,0,0,8,7,0,20.296364069 +109,CUP,SUM,0,0,0,0,0,4,8,9.1306929588 +109,SPOON,SUM,0,0,0,0,0,0,0,12.1252682209 +109,,SUM,0,0,0,0,8,11,8,41.5523252487 +109,,,,,,,,,, +110,,,,,,,,,, +110,BOWL,SUM,0,0,0,0,16,0,0,17.5314068794 +110,CUP,SUM,1,0,1,0,0,22,135,0 +110,SPOON,SUM,0,0,0,0,0,3,4,11.5408620834 +110,,SUM,1,0,1,0,16,25,139,29.0722689629 +110,,,,,,,,,, +111,,,,,,,,,, +111,BOWL,SUM,0,0,0,0,0,2,1,10.2117409706 +111,CUP,SUM,0,0,0,0,0,2,8,9.0250599384 +111,SPOON,SUM,0,0,0,0,0,3,0,11.8206629753 +111,,SUM,0,0,0,0,0,7,9,31.0574638844 +111,,,,,,,,,, +112,,,,,,,,,, +112,BOWL,SUM,0,0,0,0,0,21,0,10.8600468636 +112,CUP,SUM,1,0,1,0,0,17,119,0 +112,SPOON,SUM,0,0,0,0,8,1,0,18.4818348885 +112,,SUM,1,0,1,0,8,39,119,29.341881752 +112,,,,,,,,,, +113,,,,,,,,,, +113,BOWL,SUM,0,0,0,0,2,0,0,9.8451619148 +113,CUP,SUM,0,0,0,0,16,8,23,27.0057740211 +113,SPOON,SUM,0,0,0,0,0,3,0,12.8208341599 +113,,SUM,0,0,0,0,18,11,23,49.6717700958 +113,,,,,,,,,, +114,,,,,,,,,, +114,BOWL,SUM,0,0,0,0,0,2,16,15.5217041969 +114,CUP,SUM,0,0,0,0,8,3,8,14.0651209354 +114,SPOON,SUM,0,0,0,0,8,8,0,16.9467549324 +114,,SUM,0,0,0,0,16,13,24,46.5335800648 +114,,,,,,,,,, +115,,,,,,,,,, +115,BOWL,SUM,0,0,0,0,8,17,4,15.1020817757 +115,CUP,SUM,0,0,0,0,0,0,8,8.5815749168 +115,SPOON,SUM,0,0,0,0,0,2,2,12.7029480934 +115,,SUM,0,0,0,0,8,19,14,36.3866047859 +115,,,,,,,,,, +116,,,,,,,,,, +116,BOWL,SUM,0,0,0,0,0,5,0,9.5931780338 +116,CUP,SUM,0,0,0,0,0,1,9,9.3947200775 +116,SPOON,SUM,0,0,0,0,0,1,0,13.0033590794 +116,,SUM,0,0,0,0,0,7,9,31.9912571907 +116,,,,,,,,,, +117,,,,,,,,,, +117,BOWL,SUM,1,0,1,0,0,10,42,0 +117,CUP,SUM,0,0,0,0,0,3,28,21.7019751072 +117,SPOON,SUM,0,0,0,0,0,11,28,33.0930240154 +117,,SUM,1,0,1,0,0,24,98,54.7949991226 +117,,,,,,,,,, +118,,,,,,,,,, +118,BOWL,SUM,0,0,0,0,0,2,8,12.1588830948 +118,CUP,SUM,0,0,0,0,0,4,8,9.0444731712 +118,SPOON,SUM,0,0,0,0,0,7,0,12.9072160721 +118,,SUM,0,0,0,0,0,13,16,34.1105723381 +118,,,,,,,,,, +119,,,,,,,,,, +119,BOWL,SUM,0,0,0,0,8,21,11,20.5797851086 +119,CUP,SUM,1,0,1,0,0,8,53,0 +119,SPOON,SUM,0,0,0,0,0,11,4,15.5039110184 +119,,SUM,1,0,1,0,8,40,68,36.0836961269 +119,,,,,,,,,, +120,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,1,1,10.6489179134 +120,CUP,SUM,0,0,0,0,0,5,20,14.144382 +120,SPOON,SUM,0,0,0,0,0,3,0,12.9957549572 +120,,SUM,0,0,0,0,0,9,21,37.7890548706 +120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,0,0,0,0,0,2,0,8.9371979237 +121,CUP,SUM,0,0,0,0,0,6,67,30.8375749588 +121,SPOON,SUM,0,0,0,0,2,5,0,14.4463419914 +121,,SUM,0,0,0,0,2,13,67,54.2211148739 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,12,15,15.8068780899 +122,CUP,SUM,1,0,1,0,4,7,63,0 +122,SPOON,SUM,0,0,0,0,0,1,0,11.5770280361 +122,,SUM,1,0,1,0,4,20,78,27.383906126 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,8,0,0,12.0141150951 +123,CUP,SUM,0,0,0,0,2,5,14,15.7797811031 +123,SPOON,SUM,0,0,0,0,0,1,0,12.3976700306 +123,,SUM,0,0,0,0,10,6,14,40.1915662289 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,0,0,0,0,0,1,12,12.3331639767 +124,CUP,SUM,0,0,0,0,2,3,8,10.0667610168 +124,SPOON,SUM,0,0,0,0,0,1,0,12.356896162 +124,,SUM,0,0,0,0,2,5,20,34.7568211555 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,8,2,0,13.2340250015 +125,CUP,SUM,1,0,1,0,8,9,78,0 +125,SPOON,SUM,0,0,0,0,0,0,0,11.1414489746 +125,,SUM,1,0,1,0,16,11,78,24.3754739761 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,5,1,10.7816548347 +126,CUP,SUM,0,0,0,0,56,7,13,40.2000989914 +126,SPOON,SUM,0,0,0,0,0,6,5,15.1644020081 +126,,SUM,0,0,0,0,56,18,19,66.1461558342 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,0,0,0,0,0,6,4,9.8695020676 +127,CUP,SUM,0,0,0,0,0,4,17,13.8128650188 +127,SPOON,SUM,0,0,0,0,0,10,19,21.8556649685 +127,,SUM,0,0,0,0,0,20,40,45.5380320549 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,7,1,12.3377430439 +128,CUP,SUM,0,0,0,0,0,0,8,8.1055619717 +128,SPOON,SUM,0,0,0,0,0,3,0,13.2631878853 +128,,SUM,0,0,0,0,0,10,9,33.7064929008 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,0,22,12,17.484167099 +129,CUP,SUM,0,0,0,0,0,16,20,15.8541278839 +129,SPOON,SUM,0,0,0,0,2,9,0,14.2880139351 +129,,SUM,0,0,0,0,2,47,32,47.626308918 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,4,12,13.7268381119 +130,CUP,SUM,0,0,0,0,0,7,42,21.0261740685 +130,SPOON,SUM,0,0,0,0,0,1,0,11.6369509697 +130,,SUM,0,0,0,0,0,12,54,46.38996315 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,18,5,28,26.8971281052 +131,CUP,SUM,0,0,0,0,0,9,8,10.7678720951 +131,SPOON,SUM,0,0,0,0,0,7,0,12.0308258533 +131,,SUM,0,0,0,0,18,21,36,49.6958260536 +131,,,,,,,,,, +132,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,0,5,14,15.9205322266 +132,CUP,SUM,0,0,0,0,0,14,8,10.7989420891 +132,SPOON,SUM,1,0,1,0,0,14,11,0 +132,,SUM,1,0,1,0,0,33,33,26.7194743156 +132,,,,,,,,,, +133,,,,,,,,,, +133,BOWL,SUM,0,0,0,0,0,4,5,14.1082930565 +133,CUP,SUM,0,0,0,0,4,1,13,12.7270030975 +133,SPOON,SUM,0,0,0,0,16,13,4,36.9019489288 +133,,SUM,0,0,0,0,20,18,22,63.7372450829 +133,,,,,,,,,, +134,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,6,0,10.4737198353 +134,CUP,SUM,0,0,0,0,24,16,34,33.523555994 +134,SPOON,SUM,0,0,0,0,0,3,2,15.5895130634 +134,,SUM,0,0,0,0,24,25,36,59.5867888927 +134,,,,,,,,,, +135,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,2,0,9.5275111198 +135,CUP,SUM,0,0,0,0,2,2,23,16.0832350254 +135,SPOON,SUM,0,0,0,0,2,5,10,18.8270280361 +135,,SUM,0,0,0,0,4,9,33,44.4377741814 +135,,,,,,,,,, +136,,,,,,,,,, +136,BOWL,SUM,0,0,0,0,0,15,4,16.9680140018 +136,CUP,SUM,1,0,1,0,0,9,106,0 +136,SPOON,SUM,0,0,0,0,24,7,4,24.1122329235 +136,,SUM,1,0,1,0,24,31,114,41.0802469254 +136,,,,,,,,,, +137,,,,,,,,,, +137,BOWL,SUM,0,0,0,0,22,3,2,23.3682181835 +137,CUP,SUM,0,0,0,0,2,8,8,10.9837861061 +137,SPOON,SUM,0,0,0,0,0,3,0,13.0956449509 +137,,SUM,0,0,0,0,24,14,10,47.4476492405 +137,,,,,,,,,, +138,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,0,4,9.4308941364 +138,CUP,SUM,0,0,0,0,0,3,8,10.1117010117 +138,SPOON,SUM,0,0,0,0,8,0,0,17.3162419796 +138,,SUM,0,0,0,0,8,3,12,36.8588371277 +138,,,,,,,,,, +139,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,1,0,9.2899258137 +139,CUP,SUM,0,0,0,0,16,12,71,42.8380079269 +139,SPOON,SUM,0,0,0,0,0,8,19,22.1764428616 +139,,SUM,0,0,0,0,16,21,90,74.3043766022 +139,,,,,,,,,, +140,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,8,3,9,16.3059420586 +140,CUP,SUM,0,0,0,0,10,8,49,33.7361040115 +140,SPOON,SUM,1,0,1,0,0,9,11,0 +140,,SUM,1,0,1,0,18,20,69,50.0420460701 +140,,,,,,,,,, +141,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,1,0,16.6043851376 +141,CUP,SUM,1,0,1,0,20,7,126,0 +141,SPOON,SUM,1,0,1,0,32,12,11,0 +141,,SUM,2,0,2,0,60,20,137,16.6043851376 +141,,,,,,,,,, +142,,,,,,,,,, +142,BOWL,SUM,0,0,0,0,8,0,0,17.4152309895 +142,CUP,SUM,0,0,0,0,0,7,109,45.5534880161 +142,SPOON,SUM,0,0,0,0,0,18,7,17.5913360119 +142,,SUM,0,0,0,0,8,25,116,80.5600550175 +142,,,,,,,,,, +143,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,8,17,12,20.6115529537 +143,CUP,SUM,0,0,0,0,0,1,11,10.9092340469 +143,SPOON,SUM,0,0,0,0,2,3,1,13.686756134 +143,,SUM,0,0,0,0,10,21,24,45.2075431347 +143,,,,,,,,,, +144,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,0,2,0,8.893504858 +144,CUP,SUM,0,0,0,0,0,1,29,18.4887700081 +144,SPOON,SUM,0,0,0,0,0,12,7,18.5192329884 +144,,SUM,0,0,0,0,0,15,36,45.9015078545 +144,,,,,,,,,, +145,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,5,4,13.5352010727 +145,CUP,SUM,0,0,0,0,2,6,13,19.6412708759 +145,SPOON,SUM,0,0,0,0,8,1,0,20.3212730885 +145,,SUM,0,0,0,0,10,12,17,53.4977450371 +145,,,,,,,,,, +146,,,,,,,,,, +146,BOWL,SUM,0,0,0,0,0,1,1,10.1164069176 +146,CUP,SUM,0,0,0,0,16,7,8,20.7620549202 +146,SPOON,SUM,1,0,1,0,0,11,11,0 +146,,SUM,1,0,1,0,16,19,20,30.8784618378 +146,,,,,,,,,, +147,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,8,9,30,29.637816906 +147,CUP,SUM,0,0,0,0,0,1,9,10.688603878 +147,SPOON,SUM,0,0,0,0,8,2,0,17.4911358356 +147,,SUM,0,0,0,0,16,12,39,57.8175566196 +147,,,,,,,,,, +148,,,,,,,,,, +148,BOWL,SUM,0,0,0,0,0,7,9,13.0492727757 +148,CUP,SUM,0,0,0,0,8,1,10,14.2250959873 +148,SPOON,SUM,0,0,0,0,0,5,11,21.153922081 +148,,SUM,0,0,0,0,8,13,30,48.428290844 +148,,,,,,,,,, +149,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,2,9,9,16.5710780621 +149,CUP,SUM,0,0,0,0,0,0,9,9.7253911495 +149,SPOON,SUM,0,0,0,0,0,2,0,10.9943780899 +149,,SUM,0,0,0,0,2,11,18,37.2908473015 +149,,,,,,,,,, +150,,,,,,,,,, +150,BOWL,SUM,0,0,0,0,14,3,2,20.5547230244 +150,CUP,SUM,0,0,0,0,0,2,37,18.9707920551 +150,SPOON,SUM,0,0,0,0,0,1,0,13.0611550808 +150,,SUM,0,0,0,0,14,6,39,52.5866701603 +150,,,,,,,,,, +151,,,,,,,,,, +151,BOWL,SUM,0,0,0,0,0,1,0,7.5482809544 +151,CUP,SUM,0,0,0,0,0,6,9,9.5270559788 +151,SPOON,SUM,0,0,0,0,0,16,0,14.7426860332 +151,,SUM,0,0,0,0,0,23,9,31.8180229664 +151,,,,,,,,,, +152,,,,,,,,,, +152,BOWL,SUM,0,0,0,0,0,3,0,7.6704599857 +152,CUP,SUM,0,0,0,0,0,1,27,13.5985081196 +152,SPOON,SUM,0,0,0,0,0,1,0,11.7748138905 +152,,SUM,0,0,0,0,0,5,27,33.0437819958 +152,,,,,,,,,, +153,,,,,,,,,, +153,BOWL,SUM,0,0,0,0,8,10,34,23.4281308651 +153,CUP,SUM,0,0,0,0,2,0,9,10.5171349049 +153,SPOON,SUM,0,0,0,0,0,5,6,14.3733201027 +153,,SUM,0,0,0,0,10,15,49,48.3185858727 +153,,,,,,,,,, +154,,,,,,,,,, +154,BOWL,SUM,0,0,0,0,8,6,9,15.7407851219 +154,CUP,SUM,0,0,0,0,0,3,21,12.4679927826 +154,SPOON,SUM,0,0,0,0,8,3,0,15.1039841175 +154,,SUM,0,0,0,0,16,12,30,43.312762022 +154,,,,,,,,,, +155,,,,,,,,,, +155,BOWL,SUM,1,0,1,0,0,8,44,0 +155,CUP,SUM,0,0,0,0,8,4,28,18.9013140202 +155,SPOON,SUM,0,0,0,0,8,1,0,15.8874628544 +155,,SUM,1,0,1,0,16,13,72,34.7887768745 +155,,,,,,,,,, +156,,,,,,,,,, +156,BOWL,SUM,0,0,0,0,0,1,0,9.3529009819 +156,CUP,SUM,0,0,0,0,2,2,8,9.54134202 +156,SPOON,SUM,0,0,0,0,0,4,0,13.2791109085 +156,,SUM,0,0,0,0,2,7,8,32.1733539104 +156,,,,,,,,,, +157,,,,,,,,,, +157,BOWL,SUM,0,0,0,0,16,2,1,14.4753739834 +157,CUP,SUM,1,0,1,0,16,9,51,0 +157,SPOON,SUM,0,0,0,0,0,0,0,10.7643082142 +157,,SUM,1,0,1,0,32,11,52,25.2396821976 +157,,,,,,,,,, +158,,,,,,,,,, +158,BOWL,SUM,0,0,0,0,8,5,1,15.519356966 +158,CUP,SUM,1,0,1,0,0,8,77,0 +158,SPOON,SUM,0,0,0,0,2,8,5,16.472463131 +158,,SUM,1,0,1,0,10,21,83,31.991820097 +158,,,,,,,,,, +159,,,,,,,,,, +159,BOWL,SUM,0,0,0,0,0,1,4,11.1084070206 +159,CUP,SUM,0,0,0,0,2,2,9,9.9092440605 +159,SPOON,SUM,1,0,1,0,8,11,46,0 +159,,SUM,1,0,1,0,10,14,59,21.0176510811 +159,,,,,,,,,, +160,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,8,1,0,11.9087779522 +160,CUP,SUM,0,0,0,0,16,13,21,25.5116438866 +160,SPOON,SUM,0,0,0,0,2,4,4,14.2284789085 +160,,SUM,0,0,0,0,26,18,25,51.6489007473 +160,,,,,,,,,, +161,,,,,,,,,, +161,BOWL,SUM,0,0,0,0,2,2,0,8.7800588608 +161,CUP,SUM,0,0,0,0,0,0,8,8.5091378689 +161,SPOON,SUM,0,0,0,0,0,2,0,11.9040141106 +161,,SUM,0,0,0,0,2,4,8,29.1932108402 +161,,,,,,,,,, +162,,,,,,,,,, +162,BOWL,SUM,0,0,0,0,0,4,12,13.8613197803 +162,CUP,SUM,0,0,0,0,0,1,18,11.4546701908 +162,SPOON,SUM,0,0,0,0,0,3,13,26.8410189152 +162,,SUM,0,0,0,0,0,8,43,52.1570088863 +162,,,,,,,,,, +163,,,,,,,,,, +163,BOWL,SUM,0,0,0,0,8,7,0,19.321598053 +163,CUP,SUM,0,0,0,0,0,4,8,8.8551170826 +163,SPOON,SUM,0,0,0,0,0,0,0,11.8299710751 +163,,SUM,0,0,0,0,8,11,8,40.0066862106 +163,,,,,,,,,, +164,,,,,,,,,, +164,BOWL,SUM,0,0,0,0,16,0,0,16.3501670361 +164,CUP,SUM,1,0,1,0,0,22,135,0 +164,SPOON,SUM,0,0,0,0,0,3,4,11.0021181107 +164,,SUM,1,0,1,0,16,25,139,27.3522851467 +164,,,,,,,,,, +165,,,,,,,,,, +165,BOWL,SUM,0,0,0,0,0,2,1,9.814811945 +165,CUP,SUM,0,0,0,0,0,2,8,8.6740849018 +165,SPOON,SUM,0,0,0,0,0,3,0,11.6359701157 +165,,SUM,0,0,0,0,0,7,9,30.1248669624 +165,,,,,,,,,, +166,,,,,,,,,, +166,BOWL,SUM,0,0,0,0,0,21,0,10.7826371193 +166,CUP,SUM,1,0,1,0,0,17,119,0 +166,SPOON,SUM,0,0,0,0,8,1,0,17.7291870117 +166,,SUM,1,0,1,0,8,39,119,28.511824131 +166,,,,,,,,,, +167,,,,,,,,,, +167,BOWL,SUM,0,0,0,0,2,0,0,9.1797139645 +167,CUP,SUM,0,0,0,0,16,8,23,26.0081038475 +167,SPOON,SUM,0,0,0,0,0,3,0,12.0188400745 +167,,SUM,0,0,0,0,18,11,23,47.2066578865 +167,,,,,,,,,, +168,,,,,,,,,, +168,BOWL,SUM,0,0,0,0,0,2,16,15.1203789711 +168,CUP,SUM,0,0,0,0,8,3,8,12.5509371758 +168,SPOON,SUM,0,0,0,0,8,8,0,16.38575387 +168,,SUM,0,0,0,0,16,13,24,44.0570700169 +168,,,,,,,,,, +169,,,,,,,,,, +169,BOWL,SUM,0,0,0,0,8,17,4,14.2173280716 +169,CUP,SUM,0,0,0,0,0,0,8,8.3387839794 +169,SPOON,SUM,0,0,0,0,0,2,2,12.5175168514 +169,,SUM,0,0,0,0,8,19,14,35.0736289024 +169,,,,,,,,,, +170,,,,,,,,,, +170,BOWL,SUM,0,0,0,0,0,5,0,9.2157459259 +170,CUP,SUM,0,0,0,0,0,1,9,9.2396688461 +170,SPOON,SUM,0,0,0,0,0,1,0,12.4581029415 +170,,SUM,0,0,0,0,0,7,9,30.9135177135 +170,,,,,,,,,, +171,,,,,,,,,, +171,BOWL,SUM,1,0,1,0,0,10,42,0 +171,CUP,SUM,0,0,0,0,0,3,28,20.7623169422 +171,SPOON,SUM,0,0,0,0,0,11,28,31.6724450588 +171,,SUM,1,0,1,0,0,24,98,52.434762001 +171,,,,,,,,,, +172,,,,,,,,,, +172,BOWL,SUM,0,0,0,0,0,2,8,11.5977959633 +172,CUP,SUM,0,0,0,0,0,4,8,8.8810348511 +172,SPOON,SUM,0,0,0,0,0,7,0,12.1853890419 +172,,SUM,0,0,0,0,0,13,16,32.6642198563 +172,,,,,,,,,, +173,,,,,,,,,, +173,BOWL,SUM,0,0,0,0,8,21,11,19.5221409798 +173,CUP,SUM,1,0,1,0,0,8,53,0 +173,SPOON,SUM,0,0,0,0,0,11,4,14.7901911736 +173,,SUM,1,0,1,0,8,40,68,34.3123321533 +173,,,,,,,,,, +174,,,,,,,,,, +174,BOWL,SUM,0,0,0,0,0,1,1,10.287293911 +174,CUP,SUM,0,0,0,0,0,5,20,13.8196630478 +174,SPOON,SUM,0,0,0,0,0,3,0,12.4159939289 +174,,SUM,0,0,0,0,0,9,21,36.5229508877 +174,,,,,,,,,, +175,,,,,,,,,, +175,BOWL,SUM,0,0,0,0,0,2,0,8.4828579426 +175,CUP,SUM,0,0,0,0,0,6,67,30.3520700932 +175,SPOON,SUM,0,0,0,0,2,5,0,13.8513331413 +175,,SUM,0,0,0,0,2,13,67,52.6862611771 +175,,,,,,,,,, +176,,,,,,,,,, +176,BOWL,SUM,0,0,0,0,0,12,15,15.7096729279 +176,CUP,SUM,1,0,1,0,4,7,63,0 +176,SPOON,SUM,0,0,0,0,0,1,0,11.0305950642 +176,,SUM,1,0,1,0,4,20,78,26.740267992 +176,,,,,,,,,, +177,,,,,,,,,, +177,BOWL,SUM,0,0,0,0,8,0,0,11.3227498531 +177,CUP,SUM,0,0,0,0,2,5,14,15.2432849407 +177,SPOON,SUM,0,0,0,0,0,1,0,11.8735527992 +177,,SUM,0,0,0,0,10,6,14,38.4395875931 +177,,,,,,,,,, +178,,,,,,,,,, +178,BOWL,SUM,0,0,0,0,0,1,12,12.0997440815 +178,CUP,SUM,0,0,0,0,2,3,8,9.5297150612 +178,SPOON,SUM,0,0,0,0,0,1,0,11.9877660275 +178,,SUM,0,0,0,0,2,5,20,33.6172251701 +178,,,,,,,,,, +179,,,,,,,,,, +179,BOWL,SUM,0,0,0,0,8,2,0,12.7518279552 +179,CUP,SUM,1,0,1,0,8,9,78,0 +179,SPOON,SUM,0,0,0,0,0,0,0,11.1834151745 +179,,SUM,1,0,1,0,16,11,78,23.9352431297 +179,,,,,,,,,, +180,,,,,,,,,, +180,BOWL,SUM,0,0,0,0,0,5,1,10.4692001343 +180,CUP,SUM,0,0,0,0,56,7,13,36.7226991653 +180,SPOON,SUM,0,0,0,0,0,6,5,14.564136982 +180,,SUM,0,0,0,0,56,18,19,61.7560362816 +180,,,,,,,,,, +181,,,,,,,,,, +181,BOWL,SUM,0,0,0,0,0,6,4,9.8636031151 +181,CUP,SUM,0,0,0,0,0,4,17,13.4458398819 +181,SPOON,SUM,0,0,0,0,0,10,19,21.8631761074 +181,,SUM,0,0,0,0,0,20,40,45.1726191044 +181,,,,,,,,,, +182,,,,,,,,,, +182,BOWL,SUM,0,0,0,0,0,7,1,11.8912990093 +182,CUP,SUM,0,0,0,0,0,0,8,7.8630590439 +182,SPOON,SUM,0,0,0,0,0,3,0,12.5443320274 +182,,SUM,0,0,0,0,0,10,9,32.2986900806 +182,,,,,,,,,, +183,,,,,,,,,, +183,BOWL,SUM,0,0,0,0,0,22,12,17.155739069 +183,CUP,SUM,0,0,0,0,0,16,20,15.4741060734 +183,SPOON,SUM,0,0,0,0,2,9,0,13.8273839951 +183,,SUM,0,0,0,0,2,47,32,46.4572291374 +183,,,,,,,,,, +184,,,,,,,,,, +184,BOWL,SUM,0,0,0,0,0,4,12,13.700551033 +184,CUP,SUM,0,0,0,0,0,7,42,20.8035359383 +184,SPOON,SUM,0,0,0,0,0,1,0,11.4497230053 +184,,SUM,0,0,0,0,0,12,54,45.9538099766 +184,,,,,,,,,, +185,,,,,,,,,, +185,BOWL,SUM,0,0,0,0,18,5,28,25.434607029 +185,CUP,SUM,0,0,0,0,0,9,8,10.1796081066 +185,SPOON,SUM,0,0,0,0,0,7,0,12.0540821552 +185,,SUM,0,0,0,0,18,21,36,47.6682972908 +185,,,,,,,,,, +186,,,,,,,,,, +186,BOWL,SUM,0,0,0,0,0,5,14,15.4566950798 +186,CUP,SUM,0,0,0,0,0,14,8,10.8741090298 +186,SPOON,SUM,1,0,1,0,0,14,11,0 +186,,SUM,1,0,1,0,0,33,33,26.3308041096 +186,,,,,,,,,, +187,,,,,,,,,, +187,BOWL,SUM,0,0,0,0,0,4,5,13.6739640236 +187,CUP,SUM,0,0,0,0,4,1,13,12.2757570744 +187,SPOON,SUM,0,0,0,0,16,13,4,35.8456618786 +187,,SUM,0,0,0,0,20,18,22,61.7953829765 +187,,,,,,,,,, +188,,,,,,,,,, +188,BOWL,SUM,0,0,0,0,0,6,0,10.3277549744 +188,CUP,SUM,0,0,0,0,24,16,34,31.724766016 +188,SPOON,SUM,0,0,0,0,0,3,2,15.5621011257 +188,,SUM,0,0,0,0,24,25,36,57.6146221161 +188,,,,,,,,,, +189,,,,,,,,,, +189,BOWL,SUM,0,0,0,0,0,2,0,9.1651668549 +189,CUP,SUM,0,0,0,0,2,2,23,15.5984320641 +189,SPOON,SUM,0,0,0,0,2,5,10,17.8255610466 +189,,SUM,0,0,0,0,4,9,33,42.5891599655 +189,,,,,,,,,, +190,,,,,,,,,, +190,BOWL,SUM,0,0,0,0,0,15,4,16.3511359692 +190,CUP,SUM,1,0,1,0,0,9,106,0 +190,SPOON,SUM,0,0,0,0,24,7,4,22.7925560474 +190,,SUM,1,0,1,0,24,31,114,39.1436920166 +190,,,,,,,,,, +191,,,,,,,,,, +191,BOWL,SUM,0,0,0,0,22,3,2,21.8862309456 +191,CUP,SUM,0,0,0,0,2,8,8,11.2169578075 +191,SPOON,SUM,0,0,0,0,0,3,0,12.7851951122 +191,,SUM,0,0,0,0,24,14,10,45.8883838654 +191,,,,,,,,,, +192,,,,,,,,,, +192,BOWL,SUM,0,0,0,0,0,0,4,9.2299110889 +192,CUP,SUM,0,0,0,0,0,3,8,9.8890650272 +192,SPOON,SUM,0,0,0,0,8,0,0,16.2710289955 +192,,SUM,0,0,0,0,8,3,12,35.3900051117 +192,,,,,,,,,, +193,,,,,,,,,, +193,BOWL,SUM,0,0,0,0,0,1,0,8.909621954 +193,CUP,SUM,0,0,0,0,16,12,71,41.0975198746 +193,SPOON,SUM,0,0,0,0,0,8,19,21.7113130093 +193,,SUM,0,0,0,0,16,21,90,71.7184548378 +193,,,,,,,,,, +194,,,,,,,,,, +194,BOWL,SUM,0,0,0,0,8,3,9,15.7570240498 +194,CUP,SUM,0,0,0,0,10,8,49,32.808298111 +194,SPOON,SUM,1,0,1,0,0,9,11,0 +194,,SUM,1,0,1,0,18,20,69,48.5653221607 +194,,,,,,,,,, +195,,,,,,,,,, +195,BOWL,SUM,0,0,0,0,8,1,0,15.9714200497 +195,CUP,SUM,1,0,1,0,20,7,126,0 +195,SPOON,SUM,1,0,1,0,32,12,11,0 +195,,SUM,2,0,2,0,60,20,137,15.9714200497 +195,,,,,,,,,, +196,,,,,,,,,, +196,BOWL,SUM,0,0,0,0,8,0,0,17.005491972 +196,CUP,SUM,0,0,0,0,0,7,109,44.545799017 +196,SPOON,SUM,0,0,0,0,0,18,7,17.2711060047 +196,,SUM,0,0,0,0,8,25,116,78.8223969936 +196,,,,,,,,,, +197,,,,,,,,,, +197,BOWL,SUM,0,0,0,0,8,17,12,20.1240460873 +197,CUP,SUM,0,0,0,0,0,1,11,10.5506410599 +197,SPOON,SUM,0,0,0,0,2,3,1,13.9226257801 +197,,SUM,0,0,0,0,10,21,24,44.5973129272 +197,,,,,,,,,, +198,,,,,,,,,, +198,BOWL,SUM,0,0,0,0,0,2,0,8.7968699932 +198,CUP,SUM,0,0,0,0,0,1,29,18.2039649487 +198,SPOON,SUM,0,0,0,0,0,12,7,18.116245985 +198,,SUM,0,0,0,0,0,15,36,45.1170809269 +198,,,,,,,,,, +199,,,,,,,,,, +199,BOWL,SUM,1,0,1,0,6,4,44,0 +199,CUP,SUM,0,0,0,0,0,3,9,8.4732949734 +199,SPOON,SUM,0,0,0,0,2,3,4,13.6519620419 +199,,SUM,1,0,1,0,8,10,57,22.1252570152 +199,,,,,,,,,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv new file mode 100644 index 0000000000..34660e544d --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv @@ -0,0 +1,1203 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC, +,,,,,,,,,,, +,,,,,,,,,,, +0,,,,,,,,,,, +0,BOWL,SUM,1,0,1,0,0,27,44,0, +0,CUP,SUM,1,0,1,0,8,12,73,0, +0,SPOON,SUM,0,0,0,0,0,4,17,13.5400369167, +0,,SUM,2,0,2,0,8,43,134,13.5400369167, +0,,,,,,,,,,, +1,,,,,,,,,,, +1,BOWL,SUM,1,0,0,1,0,12,19,0, +1,CUP,SUM,1,0,1,0,0,56,70,0, +1,SPOON,SUM,0,0,0,0,0,3,8,10.8458399773, +1,,SUM,2,0,1,1,0,71,97,10.8458399773, +1,,,,,,,,,,, +2,,,,,,,,,,, +2,BOWL,SUM,1,0,1,0,0,81,40,0, +2,CUP,SUM,1,0,1,0,0,15,11,0, +2,SPOON,SUM,0,0,0,0,0,2,1,10.7030098438, +2,,SUM,2,0,2,0,0,98,52,10.7030098438, +2,,,,,,,,,,, +3,,,,,,,,,,, +3,BOWL,SUM,1,0,0,1,16,10,11,0, +3,CUP,SUM,0,0,0,0,0,2,8,6.3630301952, +3,SPOON,SUM,0,0,0,0,0,11,1,9.8828501701, +3,,SUM,1,0,0,1,16,23,20,16.2458803654, +3,,,,,,,,,,, +4,,,,,,,,,,, +4,BOWL,SUM,1,0,1,0,0,39,44,0, +4,CUP,SUM,1,0,1,0,8,29,11,0, +4,SPOON,SUM,0,0,0,0,0,1,5,10.8044281006, +4,,SUM,2,0,2,0,8,69,60,10.8044281006, +4,,,,,,,,,,, +5,,,,,,,,,,, +5,BOWL,SUM,0,0,0,0,0,1,4,7.7007250786, +5,CUP,SUM,0,0,0,0,0,2,7,6.077999115, +5,SPOON,SUM,1,0,1,0,0,343,0,0, +5,,SUM,1,0,1,0,0,346,11,13.7787241936, +5,,,,,,,,,,, +6,,,,,,,,,,, +6,BOWL,SUM,1,0,1,0,0,14,44,0, +6,CUP,SUM,0,0,0,0,0,3,4,4.4828810692, +6,SPOON,SUM,1,0,1,0,0,13,44,0, +6,,SUM,2,0,2,0,0,30,92,4.4828810692, +6,,,,,,,,,,, +7,,,,,,,,,,, +7,BOWL,SUM,1,0,1,0,0,8,44,0, +7,CUP,SUM,0,0,0,0,0,0,9,4.8672280312, +7,SPOON,SUM,1,0,1,0,0,21,44,0, +7,,SUM,2,0,2,0,0,29,97,4.8672280312, +7,,,,,,,,,,, +8,,,,,,,,,,, +8,BOWL,SUM,0,0,0,0,0,4,12,9.7791581154, +8,CUP,SUM,0,0,0,0,0,8,22,8.3392710686, +8,SPOON,SUM,0,0,0,0,0,2,1,10.1766781807, +8,,SUM,0,0,0,0,0,14,35,28.2951073647, +8,,,,,,,,,,, +9,,,,,,,,,,, +9,BOWL,SUM,0,0,0,0,0,9,20,10.2779750824, +9,CUP,SUM,0,0,0,0,0,4,9,5.6362390518, +9,SPOON,SUM,0,0,0,0,0,6,2,11.054901123, +9,,SUM,0,0,0,0,0,19,31,26.9691152573, +9,,,,,,,,,,, +10,,,,,,,,,,, +10,BOWL,SUM,1,0,1,0,0,5,44,0, +10,CUP,SUM,0,0,0,0,0,0,8,6.7623419762, +10,SPOON,SUM,0,0,0,0,0,14,3,11.8637588024, +10,,SUM,1,0,1,0,0,19,55,18.6261007786, +10,,,,,,,,,,, +11,,,,,,,,,,, +11,BOWL,SUM,1,0,1,0,0,21,44,0, +11,CUP,SUM,1,1,0,0,24,40,0,0, +11,SPOON,SUM,1,0,1,0,0,10,44,0, +11,,SUM,3,1,2,0,24,71,88,0, +11,,,,,,,,,,, +12,,,,,,,,,,, +12,BOWL,SUM,0,0,0,0,0,8,2,7.5895960331, +12,CUP,SUM,0,0,0,0,0,2,6,5.0006430149, +12,SPOON,SUM,0,0,0,0,0,5,1,10.3595590591, +12,,SUM,0,0,0,0,0,15,9,22.9497981071, +12,,,,,,,,,,, +13,,,,,,,,,,, +13,BOWL,SUM,1,0,1,0,0,15,44,0, +13,CUP,SUM,1,0,1,0,8,5,49,0, +13,SPOON,SUM,0,0,0,0,0,7,31,16.5712828636, +13,,SUM,2,0,2,0,8,27,124,16.5712828636, +13,,,,,,,,,,, +14,,,,,,,,,,, +14,BOWL,SUM,1,0,1,0,8,26,44,0, +14,CUP,SUM,0,0,0,0,16,2,5,12.0677399635, +14,SPOON,SUM,1,0,1,0,0,14,44,0, +14,,SUM,2,0,2,0,24,42,93,12.0677399635, +14,,,,,,,,,,, +15,,,,,,,,,,, +15,BOWL,SUM,0,0,0,0,24,10,29,20.9805870056, +15,CUP,SUM,1,0,1,0,0,9,33,0, +15,SPOON,SUM,1,0,1,0,0,10,44,0, +15,,SUM,2,0,2,0,24,29,106,20.9805870056, +15,,,,,,,,,,, +16,,,,,,,,,,, +16,BOWL,SUM,1,0,1,0,0,24,44,0, +16,CUP,SUM,0,0,0,0,0,0,38,10.8845748901, +16,SPOON,SUM,0,0,0,0,0,1,0,10.3752970695, +16,,SUM,1,0,1,0,0,25,82,21.2598719597, +16,,,,,,,,,,, +17,,,,,,,,,,, +17,BOWL,SUM,1,0,1,0,0,42,40,0, +17,CUP,SUM,0,0,0,0,0,5,3,4.9830751419, +17,SPOON,SUM,0,0,0,0,0,5,0,10.2711548805, +17,,SUM,1,0,1,0,0,52,43,15.2542300224, +17,,,,,,,,,,, +18,,,,,,,,,,, +18,BOWL,SUM,1,1,0,0,96,9,0,0, +18,CUP,SUM,1,0,1,0,0,12,33,0, +18,SPOON,SUM,0,0,0,0,0,4,4,11.0577030182, +18,,SUM,2,1,1,0,96,25,37,11.0577030182, +18,,,,,,,,,,, +19,,,,,,,,,,, +19,BOWL,SUM,1,0,1,0,0,15,44,0, +19,CUP,SUM,0,0,0,0,0,14,6,5.2752361298, +19,SPOON,SUM,0,0,0,0,8,3,9,16.3233239651, +19,,SUM,1,0,1,0,8,32,59,21.5985600948, +19,,,,,,,,,,, +20,,,,,,,,,,, +20,BOWL,SUM,1,0,1,0,0,6,44,0, +20,CUP,SUM,0,0,0,0,0,1,8,5.9818398952, +20,SPOON,SUM,1,0,1,0,0,34,44,0, +20,,SUM,2,0,2,0,0,41,96,5.9818398952, +20,,,,,,,,,,, +21,,,,,,,,,,, +21,BOWL,SUM,1,0,0,1,8,25,47,0, +21,CUP,SUM,0,0,0,0,0,7,29,8.9539978504, +21,SPOON,SUM,0,0,0,0,32,7,0,23.5252997875, +21,,SUM,1,0,0,1,40,39,76,32.4792976379, +21,,,,,,,,,,, +22,,,,,,,,,,, +22,BOWL,SUM,1,0,1,0,32,9,44,0, +22,CUP,SUM,1,0,1,0,0,41,30,0, +22,SPOON,SUM,0,0,0,0,0,2,0,10.1448099613, +22,,SUM,2,0,2,0,32,52,74,10.1448099613, +22,,,,,,,,,,, +23,,,,,,,,,,, +23,BOWL,SUM,1,0,1,0,8,36,40,0, +23,CUP,SUM,0,0,0,0,0,0,6,5.0217819214, +23,SPOON,SUM,0,0,0,0,0,1,0,9.9011011124, +23,,SUM,1,0,1,0,8,37,46,14.9228830338, +23,,,,,,,,,,, +24,,,,,,,,,,, +24,BOWL,SUM,1,0,0,1,0,2,19,0, +24,CUP,SUM,1,0,1,0,0,36,11,0, +24,SPOON,SUM,0,0,0,0,0,0,4,10.447026968, +24,,SUM,2,0,1,1,0,38,34,10.447026968, +24,,,,,,,,,,, +25,,,,,,,,,,, +25,BOWL,SUM,0,0,0,0,0,5,37,13.2130250931, +25,CUP,SUM,1,0,1,0,0,20,33,0, +25,SPOON,SUM,0,0,0,0,0,6,28,15.6164619923, +25,,SUM,1,0,1,0,0,31,98,28.8294870853, +25,,,,,,,,,,, +26,,,,,,,,,,, +26,BOWL,SUM,1,0,1,0,0,23,44,0, +26,CUP,SUM,0,0,0,0,0,7,10,8.5528209209, +26,SPOON,SUM,0,0,0,0,0,0,6,12.0918300152, +26,,SUM,1,0,1,0,0,30,60,20.6446509361, +26,,,,,,,,,,, +27,,,,,,,,,,, +27,BOWL,SUM,1,0,1,0,0,14,44,0, +27,CUP,SUM,0,0,0,0,0,1,4,5.0635719299, +27,SPOON,SUM,1,0,1,0,0,10,44,0, +27,,SUM,2,0,2,0,0,25,92,5.0635719299, +27,,,,,,,,,,, +28,,,,,,,,,,, +28,BOWL,SUM,1,0,0,1,0,3,11,0, +28,CUP,SUM,1,0,1,0,0,20,11,0, +28,SPOON,SUM,0,0,0,0,8,1,0,14.4542222023, +28,,SUM,2,0,1,1,8,24,22,14.4542222023, +28,,,,,,,,,,, +29,,,,,,,,,,, +29,BOWL,SUM,1,0,1,0,0,10,44,0, +29,CUP,SUM,1,0,1,0,8,10,81,0, +29,SPOON,SUM,1,0,1,0,0,6,44,0, +29,,SUM,3,0,3,0,8,26,169,0, +29,,,,,,,,,,, +30,,,,,,,,,,, +30,BOWL,SUM,0,0,0,0,0,0,4,8.610599041, +30,CUP,SUM,0,0,0,0,0,10,6,5.627518177, +30,SPOON,SUM,0,0,0,0,0,3,11,12.5609481335, +30,,SUM,0,0,0,0,0,13,21,26.7990653515, +30,,,,,,,,,,, +31,,,,,,,,,,, +31,BOWL,SUM,0,0,0,0,8,5,40,21.3496539593, +31,CUP,SUM,1,0,1,0,0,72,45,0, +31,SPOON,SUM,0,0,0,0,0,2,24,16.9121580124, +31,,SUM,1,0,1,0,8,79,109,38.2618119717, +31,,,,,,,,,,, +32,,,,,,,,,,, +32,BOWL,SUM,0,0,0,0,0,17,26,13.7097661495, +32,CUP,SUM,0,0,0,0,16,7,7,15.8343069553, +32,SPOON,SUM,1,0,1,0,0,10,44,0, +32,,SUM,1,0,1,0,16,34,77,29.5440731049, +32,,,,,,,,,,, +33,,,,,,,,,,, +33,BOWL,SUM,0,0,0,0,0,3,9,11.7265059948, +33,CUP,SUM,0,0,0,0,0,5,4,6.0797560215, +33,SPOON,SUM,0,0,0,0,8,7,34,22.4832179546, +33,,SUM,0,0,0,0,8,15,47,40.2894799709, +33,,,,,,,,,,, +34,,,,,,,,,,, +34,BOWL,SUM,0,0,0,0,0,11,10,9.5825929642, +34,CUP,SUM,0,0,0,0,0,1,7,7.2674689293, +34,SPOON,SUM,0,0,0,0,16,6,4,22.1296849251, +34,,SUM,0,0,0,0,16,18,21,38.9797468185, +34,,,,,,,,,,, +35,,,,,,,,,,, +35,BOWL,SUM,1,0,0,1,8,2,13,0, +35,CUP,SUM,1,0,1,0,8,16,33,0, +35,SPOON,SUM,0,0,0,0,0,0,1,11.4906909466, +35,,SUM,2,0,1,1,16,18,47,11.4906909466, +35,,,,,,,,,,, +36,,,,,,,,,,, +36,BOWL,SUM,1,0,1,0,0,26,44,0, +36,CUP,SUM,0,0,0,0,0,0,3,6.8225240707, +36,SPOON,SUM,1,0,1,0,0,11,44,0, +36,,SUM,2,0,2,0,0,37,91,6.8225240707, +36,,,,,,,,,,, +37,,,,,,,,,,, +37,BOWL,SUM,1,0,1,0,4,8,44,0, +37,CUP,SUM,0,0,0,0,0,2,6,7.3185169697, +37,SPOON,SUM,1,0,1,0,16,8,44,0, +37,,SUM,2,0,2,0,20,18,94,7.3185169697, +37,,,,,,,,,,, +38,,,,,,,,,,, +38,BOWL,SUM,1,0,1,0,0,10,44,0, +38,CUP,SUM,0,0,0,0,24,4,11,24.1062800884, +38,SPOON,SUM,1,0,1,0,0,15,44,0, +38,,SUM,2,0,2,0,24,29,99,24.1062800884, +38,,,,,,,,,,, +39,,,,,,,,,,, +39,BOWL,SUM,1,0,0,1,0,4,11,0, +39,CUP,SUM,0,0,0,0,8,64,12,38.4845230579, +39,SPOON,SUM,0,0,0,0,0,2,4,11.5273220539, +39,,SUM,1,0,0,1,8,70,27,50.0118451118, +39,,,,,,,,,,, +40,,,,,,,,,,, +40,BOWL,SUM,0,0,0,0,0,3,18,12.0510649681, +40,CUP,SUM,0,0,0,0,16,3,4,15.7503910065, +40,SPOON,SUM,1,1,0,0,8,71,0,0, +40,,SUM,1,1,0,0,24,77,22,27.8014559746, +40,,,,,,,,,,, +41,,,,,,,,,,, +41,BOWL,SUM,0,0,0,0,8,9,13,14.842140913, +41,CUP,SUM,1,0,1,0,12,13,11,0, +41,SPOON,SUM,0,0,0,0,48,6,12,45.0321519375, +41,,SUM,1,0,1,0,68,28,36,59.8742928505, +41,,,,,,,,,,, +42,,,,,,,,,,, +42,BOWL,SUM,1,0,0,1,32,9,11,0, +42,CUP,SUM,0,0,0,0,0,0,4,7.368407011, +42,SPOON,SUM,1,0,1,0,8,15,44,0, +42,,SUM,2,0,1,1,40,24,59,7.368407011, +42,,,,,,,,,,, +43,,,,,,,,,,, +43,BOWL,SUM,1,0,1,0,0,12,44,0, +43,CUP,SUM,0,0,0,0,0,0,6,6.9356291294, +43,SPOON,SUM,0,0,0,0,0,17,16,15.2582910061, +43,,SUM,1,0,1,0,0,29,66,22.1939201355, +43,,,,,,,,,,, +44,,,,,,,,,,, +44,BOWL,SUM,1,0,0,1,16,4,11,0, +44,CUP,SUM,0,0,0,0,0,3,9,8.5127358437, +44,SPOON,SUM,1,0,1,0,0,24,44,0, +44,,SUM,2,0,1,1,16,31,64,8.5127358437, +44,,,,,,,,,,, +45,,,,,,,,,,, +45,BOWL,SUM,0,0,0,0,0,0,8,12.8065440655, +45,CUP,SUM,0,0,0,0,0,3,4,7.3045499325, +45,SPOON,SUM,1,0,1,0,0,157,24,0, +45,,SUM,1,0,1,0,0,160,36,20.111093998, +45,,,,,,,,,,, +46,,,,,,,,,,, +46,BOWL,SUM,1,0,0,1,0,2,11,0, +46,CUP,SUM,1,1,0,0,8,71,0,0, +46,SPOON,SUM,1,0,1,0,56,13,44,0, +46,,SUM,3,1,1,1,64,86,55,0, +46,,,,,,,,,,, +47,,,,,,,,,,, +47,BOWL,SUM,1,0,1,0,0,26,44,0, +47,CUP,SUM,1,0,1,0,8,13,43,0, +47,SPOON,SUM,0,0,0,0,0,1,8,13.2460870743, +47,,SUM,2,0,2,0,8,40,95,13.2460870743, +47,,,,,,,,,,, +48,,,,,,,,,,, +48,BOWL,SUM,1,0,1,0,0,4,44,0, +48,CUP,SUM,1,0,1,0,0,10,33,0, +48,SPOON,SUM,1,1,0,0,8,41,0,0, +48,,SUM,3,1,2,0,8,55,77,0, +48,,,,,,,,,,, +49,,,,,,,,,,, +49,BOWL,SUM,0,0,0,0,0,2,14,12.1834981441, +49,CUP,SUM,0,0,0,0,0,3,28,11.2227091789, +49,SPOON,SUM,1,0,1,0,0,18,44,0, +49,,SUM,1,0,1,0,0,23,86,23.4062073231, +49,,,,,,,,,,, +50,,,,,,,,,,, +50,BOWL,SUM,1,0,1,0,8,9,44,0, +50,CUP,SUM,0,0,0,0,0,0,6,4.5915720463, +50,SPOON,SUM,0,0,0,0,0,7,29,15.854612112, +50,,SUM,1,0,1,0,8,16,79,20.4461841583, +50,,,,,,,,,,, +51,,,,,,,,,,, +51,BOWL,SUM,1,0,1,0,0,11,44,0, +51,CUP,SUM,0,0,0,0,60,11,24,32.5564930439, +51,SPOON,SUM,1,1,0,0,8,71,0,0, +51,,SUM,2,1,1,0,68,93,68,32.5564930439, +51,,,,,,,,,,, +52,,,,,,,,,,, +52,BOWL,SUM,1,0,1,0,0,28,44,0, +52,CUP,SUM,0,0,0,0,0,0,2,4.6323480606, +52,SPOON,SUM,0,0,0,0,0,4,20,13.4446179867, +52,,SUM,1,0,1,0,0,32,66,18.0769660473, +52,,,,,,,,,,, +53,,,,,,,,,,, +53,BOWL,SUM,1,0,1,0,0,8,44,0, +53,CUP,SUM,0,0,0,0,16,5,7,12.6101939678, +53,SPOON,SUM,0,0,0,0,0,2,0,10.2873198986, +53,,SUM,1,0,1,0,16,15,51,22.8975138664, +53,,,,,,,,,,, +54,,,,,,,,,,, +54,BOWL,SUM,1,0,1,0,0,341,0,0, +54,CUP,SUM,0,0,0,0,0,1,3,4.9721260071, +54,SPOON,SUM,0,0,0,0,0,3,16,12.8871209621, +54,,SUM,1,0,1,0,0,345,19,17.8592469692, +54,,,,,,,,,,, +55,,,,,,,,,,, +55,BOWL,SUM,1,0,1,0,0,24,44,0, +55,CUP,SUM,1,0,1,0,16,11,33,0, +55,SPOON,SUM,0,0,0,0,0,3,2,11.1226968765, +55,,SUM,2,0,2,0,16,38,79,11.1226968765, +55,,,,,,,,,,, +56,,,,,,,,,,, +56,BOWL,SUM,1,0,1,0,0,42,40,0, +56,CUP,SUM,0,0,0,0,0,0,9,4.9481818676, +56,SPOON,SUM,0,0,0,0,0,7,0,10.2461819649, +56,,SUM,1,0,1,0,0,49,49,15.1943638325, +56,,,,,,,,,,, +57,,,,,,,,,,, +57,BOWL,SUM,1,0,1,0,0,13,44,0, +57,CUP,SUM,0,0,0,0,8,6,8,9.9500939846, +57,SPOON,SUM,0,0,0,0,0,1,9,11.6489808559, +57,,SUM,1,0,1,0,8,20,61,21.5990748405, +57,,,,,,,,,,, +58,,,,,,,,,,, +58,BOWL,SUM,1,0,1,0,8,16,44,0, +58,CUP,SUM,0,0,0,0,32,5,18,21.36855793, +58,SPOON,SUM,0,0,0,0,0,4,22,15.7651488781, +58,,SUM,1,0,1,0,40,25,84,37.1337068081, +58,,,,,,,,,,, +59,,,,,,,,,,, +59,BOWL,SUM,0,0,0,0,0,15,17,10.7657368183, +59,CUP,SUM,1,0,0,1,0,5,36,0, +59,SPOON,SUM,0,0,0,0,14,9,34,23.7366280556, +59,,SUM,1,0,0,1,14,29,87,34.5023648739, +59,,,,,,,,,,, +60,,,,,,,,,,, +60,BOWL,SUM,0,0,0,0,8,28,3,12.7926268578, +60,CUP,SUM,1,1,0,0,88,7,0,0, +60,SPOON,SUM,1,0,1,0,0,56,40,0, +60,,SUM,2,1,1,0,96,91,43,12.7926268578, +60,,,,,,,,,,, +61,,,,,,,,,,, +61,BOWL,SUM,0,0,0,0,0,5,21,11.2028241158, +61,CUP,SUM,0,0,0,0,0,6,14,7.0317471027, +61,SPOON,SUM,0,0,0,0,0,2,0,10.2939629555, +61,,SUM,0,0,0,0,0,13,35,28.528534174, +61,,,,,,,,,,, +62,,,,,,,,,,, +62,BOWL,SUM,1,0,1,0,16,7,44,0, +62,CUP,SUM,1,0,0,1,0,3,11,0, +62,SPOON,SUM,1,0,1,0,0,13,44,0, +62,,SUM,3,0,2,1,16,23,99,0, +62,,,,,,,,,,, +63,,,,,,,,,,, +63,BOWL,SUM,0,0,0,0,0,6,37,14.1921870708, +63,CUP,SUM,1,0,0,1,0,5,17,0, +63,SPOON,SUM,0,0,0,0,0,1,7,12.4828801155, +63,,SUM,1,0,0,1,0,12,61,26.6750671864, +63,,,,,,,,,,, +64,,,,,,,,,,, +64,BOWL,SUM,0,0,0,0,0,9,50,17.8013710976, +64,CUP,SUM,0,0,0,0,0,7,14,7.0404908657, +64,SPOON,SUM,0,0,0,0,0,1,0,10.6422410011, +64,,SUM,0,0,0,0,0,17,64,35.4841029644, +64,,,,,,,,,,, +65,,,,,,,,,,, +65,BOWL,SUM,0,0,0,0,0,7,42,16.8008699417, +65,CUP,SUM,1,0,1,0,0,25,33,0, +65,SPOON,SUM,0,0,0,0,8,14,24,19.4968969822, +65,,SUM,1,0,1,0,8,46,99,36.2977669239, +65,,,,,,,,,,, +66,,,,,,,,,,, +66,BOWL,SUM,1,0,1,0,16,9,44,0, +66,CUP,SUM,0,0,0,0,0,1,13,8.4715030193, +66,SPOON,SUM,1,0,1,0,0,14,44,0, +66,,SUM,2,0,2,0,16,24,101,8.4715030193, +66,,,,,,,,,,, +67,,,,,,,,,,, +67,BOWL,SUM,0,0,0,0,0,10,14,13.3738029003, +67,CUP,SUM,0,0,0,0,16,6,16,17.3433208466, +67,SPOON,SUM,0,0,0,0,0,16,13,14.493491888, +67,,SUM,0,0,0,0,16,32,43,45.2106156349, +67,,,,,,,,,,, +68,,,,,,,,,,, +68,BOWL,SUM,0,0,0,0,0,0,5,8.5538840294, +68,CUP,SUM,0,0,0,0,0,1,5,6.1293330193, +68,SPOON,SUM,1,0,1,0,0,9,44,0, +68,,SUM,1,0,1,0,0,10,54,14.6832170486, +68,,,,,,,,,,, +69,,,,,,,,,,, +69,BOWL,SUM,1,0,0,1,8,5,11,0, +69,CUP,SUM,0,0,0,0,16,14,32,23.3946518898, +69,SPOON,SUM,0,0,0,0,0,7,19,15.6025791168, +69,,SUM,1,0,0,1,24,26,62,38.9972310066, +69,,,,,,,,,,, +70,,,,,,,,,,, +70,BOWL,SUM,0,0,0,0,0,6,17,13.3027000427, +70,CUP,SUM,1,0,1,0,0,19,11,0, +70,SPOON,SUM,0,0,0,0,0,0,1,12.5880019665, +70,,SUM,1,0,1,0,0,25,29,25.8907020092, +70,,,,,,,,,,, +71,,,,,,,,,,, +71,BOWL,SUM,1,0,1,0,0,14,44,0, +71,CUP,SUM,0,0,0,0,32,6,5,26.9268159866, +71,SPOON,SUM,0,0,0,0,0,6,6,13.432063818, +71,,SUM,1,0,1,0,32,26,55,40.3588798046, +71,,,,,,,,,,, +72,,,,,,,,,,, +72,BOWL,SUM,0,0,0,0,0,5,39,15.6998889446, +72,CUP,SUM,0,0,0,0,0,2,3,6.3949699402, +72,SPOON,SUM,1,0,1,0,0,13,44,0, +72,,SUM,1,0,1,0,0,20,86,22.0948588848, +72,,,,,,,,,,, +73,,,,,,,,,,, +73,BOWL,SUM,1,1,0,0,24,41,0,0, +73,CUP,SUM,1,0,1,0,0,15,77,0, +73,SPOON,SUM,0,0,0,0,0,9,41,19.7721829414, +73,,SUM,2,1,1,0,24,65,118,19.7721829414, +73,,,,,,,,,,, +74,,,,,,,,,,, +74,BOWL,SUM,1,0,1,0,8,20,44,0, +74,CUP,SUM,0,0,0,0,0,6,7,8.0530469418, +74,SPOON,SUM,0,0,0,0,0,6,24,17.7175290585, +74,,SUM,1,0,1,0,8,32,75,25.7705760002, +74,,,,,,,,,,, +75,,,,,,,,,,, +75,BOWL,SUM,1,0,1,0,0,12,44,0, +75,CUP,SUM,0,0,0,0,0,1,8,8.8516659737, +75,SPOON,SUM,0,0,0,0,0,2,2,13.4156200886, +75,,SUM,1,0,1,0,0,15,54,22.2672860622, +75,,,,,,,,,,, +76,,,,,,,,,,, +76,BOWL,SUM,1,0,0,1,8,1,11,0, +76,CUP,SUM,0,0,0,0,0,9,8,6.3222360611, +76,SPOON,SUM,1,0,1,0,0,9,44,0, +76,,SUM,2,0,1,1,8,19,63,6.3222360611, +76,,,,,,,,,,, +77,,,,,,,,,,, +77,BOWL,SUM,1,0,1,0,0,19,44,0, +77,CUP,SUM,0,0,0,0,0,6,5,7.5636029243, +77,SPOON,SUM,0,0,0,0,0,0,2,12.3398170471, +77,,SUM,1,0,1,0,0,25,51,19.9034199715, +77,,,,,,,,,,, +78,,,,,,,,,,, +78,BOWL,SUM,1,0,0,1,0,16,19,0, +78,CUP,SUM,0,0,0,0,0,4,11,6.5302820206, +78,SPOON,SUM,0,0,0,0,0,4,20,15.7602770329, +78,,SUM,1,0,0,1,0,24,50,22.2905590534, +78,,,,,,,,,,, +79,,,,,,,,,,, +79,BOWL,SUM,1,0,1,0,0,15,44,0, +79,CUP,SUM,0,0,0,0,8,1,23,13.3667681217, +79,SPOON,SUM,0,0,0,0,0,5,1,12.1156349182, +79,,SUM,1,0,1,0,8,21,68,25.4824030399, +79,,,,,,,,,,, +80,,,,,,,,,,, +80,BOWL,SUM,1,0,1,0,0,12,44,0, +80,CUP,SUM,1,0,1,0,8,13,77,0, +80,SPOON,SUM,0,0,0,0,0,6,44,20.4522180557, +80,,SUM,2,0,2,0,8,31,165,20.4522180557, +80,,,,,,,,,,, +81,,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,8,5,5,15.7806241512, +81,CUP,SUM,1,0,1,0,8,7,33,0, +81,SPOON,SUM,0,0,0,0,4,3,17,17.670552969, +81,,SUM,1,0,1,0,20,15,55,33.4511771202, +81,,,,,,,,,,, +82,,,,,,,,,,, +82,BOWL,SUM,1,0,1,0,0,37,40,0, +82,CUP,SUM,0,0,0,0,8,2,10,14.8335299492, +82,SPOON,SUM,0,0,0,0,0,2,6,15.0019922256, +82,,SUM,1,0,1,0,8,41,56,29.8355221748, +82,,,,,,,,,,, +83,,,,,,,,,,, +83,BOWL,SUM,0,0,0,0,12,5,21,21.1763129234, +83,CUP,SUM,1,1,0,0,8,27,0,0, +83,SPOON,SUM,0,0,0,0,0,5,2,11.7200109959, +83,,SUM,1,1,0,0,20,37,23,32.8963239193, +83,,,,,,,,,,, +84,,,,,,,,,,, +84,BOWL,SUM,0,0,0,0,0,1,16,12.4908030033, +84,CUP,SUM,0,0,0,0,0,0,6,5.8719360828, +84,SPOON,SUM,0,0,0,0,0,5,0,11.4793810844, +84,,SUM,0,0,0,0,0,6,22,29.8421201706, +84,,,,,,,,,,, +85,,,,,,,,,,, +85,BOWL,SUM,1,0,0,1,8,2,15,0, +85,CUP,SUM,1,0,1,0,0,14,77,0, +85,SPOON,SUM,1,0,1,0,0,341,0,0, +85,,SUM,3,0,2,1,8,357,92,0, +85,,,,,,,,,,, +86,,,,,,,,,,, +86,BOWL,SUM,0,0,0,0,0,2,11,9.8810679913, +86,CUP,SUM,1,0,1,0,24,21,17,0, +86,SPOON,SUM,0,0,0,0,8,16,2,17.6317398548, +86,,SUM,1,0,1,0,32,39,30,27.5128078461, +86,,,,,,,,,,, +87,,,,,,,,,,, +87,BOWL,SUM,1,1,0,0,16,40,0,0, +87,CUP,SUM,0,0,0,0,0,5,17,8.2259118557, +87,SPOON,SUM,0,0,0,0,40,9,7,37.3156759739, +87,,SUM,1,1,0,0,56,54,24,45.5415878296, +87,,,,,,,,,,, +88,,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,0,9,9,12.142663002, +88,CUP,SUM,0,0,0,0,0,1,6,6.2985889912, +88,SPOON,SUM,0,0,0,0,64,7,12,52.8196129799, +88,,SUM,0,0,0,0,64,17,27,71.2608649731, +88,,,,,,,,,,, +89,,,,,,,,,,, +89,BOWL,SUM,0,0,0,0,0,16,37,16.5440459251, +89,CUP,SUM,1,0,0,1,0,1,17,0, +89,SPOON,SUM,0,0,0,0,16,0,1,24.4949471951, +89,,SUM,1,0,0,1,16,17,55,41.0389931202, +89,,,,,,,,,,, +90,,,,,,,,,,, +90,BOWL,SUM,0,0,0,0,0,3,5,11.7328238487, +90,CUP,SUM,0,0,0,0,0,17,12,11.0472819805, +90,SPOON,SUM,1,0,1,0,8,20,44,0, +90,,SUM,1,0,1,0,8,40,61,22.7801058292, +90,,,,,,,,,,, +91,,,,,,,,,,, +91,BOWL,SUM,0,0,0,0,0,13,41,16.8758180141, +91,CUP,SUM,0,0,0,0,16,51,10,33.8195250034, +91,SPOON,SUM,0,0,0,0,0,2,5,13.7576839924, +91,,SUM,0,0,0,0,16,66,56,64.45302701, +91,,,,,,,,,,, +92,,,,,,,,,,, +92,BOWL,SUM,1,0,1,0,0,13,44,0, +92,CUP,SUM,1,0,1,0,16,8,11,0, +92,SPOON,SUM,0,0,0,0,0,10,17,15.3774459362, +92,,SUM,2,0,2,0,16,31,72,15.3774459362, +92,,,,,,,,,,, +93,,,,,,,,,,, +93,BOWL,SUM,0,0,0,0,0,3,8,12.3671450615, +93,CUP,SUM,0,0,0,0,0,13,6,8.6578369141, +93,SPOON,SUM,0,0,0,0,8,3,18,20.6980750561, +93,,SUM,0,0,0,0,8,19,32,41.7230570316, +93,,,,,,,,,,, +94,,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,0,2,3,9.5711569786, +94,CUP,SUM,1,0,1,0,8,9,33,0, +94,SPOON,SUM,0,0,0,0,16,1,1,24.3515269756, +94,,SUM,1,0,1,0,24,12,37,33.9226839542, +94,,,,,,,,,,, +95,,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,0,4,31,16.805629015, +95,CUP,SUM,1,0,1,0,0,27,33,0, +95,SPOON,SUM,0,0,0,0,0,7,24,16.2626509666, +95,,SUM,1,0,1,0,0,38,88,33.0682799816, +95,,,,,,,,,,, +96,,,,,,,,,,, +96,BOWL,SUM,1,0,1,0,0,12,44,0, +96,CUP,SUM,0,0,0,0,16,1,7,17.8180291653, +96,SPOON,SUM,0,0,0,0,0,1,0,11.880510807, +96,,SUM,1,0,1,0,16,14,51,29.6985399723, +96,,,,,,,,,,, +97,,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,1,1,8.7802970409, +97,CUP,SUM,0,0,0,0,0,6,25,12.5315921307, +97,SPOON,SUM,1,1,0,0,0,42,0,0, +97,,SUM,1,1,0,0,0,49,26,21.3118891716, +97,,,,,,,,,,, +98,,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,4,13,9.7245550156, +98,CUP,SUM,0,0,0,0,0,2,2,6.2576959133, +98,SPOON,SUM,1,0,1,0,0,27,44,0, +98,,SUM,1,0,1,0,0,33,59,15.9822509289, +98,,,,,,,,,,, +99,,,,,,,,,,, +99,BOWL,SUM,1,0,1,0,0,27,44,0, +99,CUP,SUM,1,0,1,0,8,12,73,0, +99,SPOON,SUM,0,0,0,0,0,4,17,13.7426280975, +99,,SUM,2,0,2,0,8,43,134,13.7426280975, +99,,,,,,,,,,, +100,,,,,,,,,,, +100,BOWL,SUM,0,0,0,0,0,3,20,11.8010160923, +100,CUP,SUM,1,0,1,0,0,7,11,0, +100,SPOON,SUM,0,0,0,0,16,6,1,24.7989139557, +100,,SUM,1,0,1,0,16,16,32,36.599930048, +100,,,,,,,,,,, +101,,,,,,,,,,, +101,BOWL,SUM,1,0,0,1,0,12,19,0, +101,CUP,SUM,1,0,1,0,0,56,70,0, +101,SPOON,SUM,0,0,0,0,0,3,8,11.4359250069, +101,,SUM,2,0,1,1,0,71,97,11.4359250069, +101,,,,,,,,,,, +102,,,,,,,,,,, +102,BOWL,SUM,1,0,1,0,0,81,40,0, +102,CUP,SUM,1,0,1,0,0,15,11,0, +102,SPOON,SUM,0,0,0,0,0,2,1,10.3460469246, +102,,SUM,2,0,2,0,0,98,52,10.3460469246, +102,,,,,,,,,,, +103,,,,,,,,,,, +103,BOWL,SUM,1,0,0,1,16,10,11,0, +103,CUP,SUM,0,0,0,0,0,2,8,6.3846328259, +103,SPOON,SUM,0,0,0,0,0,11,1,9.9385490417, +103,,SUM,1,0,0,1,16,23,20,16.3231818676, +103,,,,,,,,,,, +104,,,,,,,,,,, +104,BOWL,SUM,1,0,1,0,0,39,44,0, +104,CUP,SUM,1,0,1,0,8,29,11,0, +104,SPOON,SUM,0,0,0,0,0,1,5,10.4719629288, +104,,SUM,2,0,2,0,8,69,60,10.4719629288, +104,,,,,,,,,,, +105,,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,0,1,4,7.6709680557, +105,CUP,SUM,0,0,0,0,0,2,7,6.2186059952, +105,SPOON,SUM,1,0,1,0,0,343,0,0, +105,,SUM,1,0,1,0,0,346,11,13.8895740509, +105,,,,,,,,,,, +106,,,,,,,,,,, +106,BOWL,SUM,1,0,1,0,0,14,44,0, +106,CUP,SUM,0,0,0,0,0,3,4,4.4082040787, +106,SPOON,SUM,1,0,1,0,0,13,44,0, +106,,SUM,2,0,2,0,0,30,92,4.4082040787, +106,,,,,,,,,,, +107,,,,,,,,,,, +107,BOWL,SUM,1,0,1,0,0,8,44,0, +107,CUP,SUM,0,0,0,0,0,0,9,4.7959961891, +107,SPOON,SUM,1,0,1,0,0,21,44,0, +107,,SUM,2,0,2,0,0,29,97,4.7959961891, +107,,,,,,,,,,, +108,,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,0,4,12,9.5334329605, +108,CUP,SUM,0,0,0,0,0,8,22,8.4405250549, +108,SPOON,SUM,0,0,0,0,0,2,1,9.9288349152, +108,,SUM,0,0,0,0,0,14,35,27.9027929306, +108,,,,,,,,,,, +109,,,,,,,,,,, +109,BOWL,SUM,0,0,0,0,0,9,20,10.1935310364, +109,CUP,SUM,0,0,0,0,0,4,9,5.6742899418, +109,SPOON,SUM,0,0,0,0,0,6,2,10.6187880039, +109,,SUM,0,0,0,0,0,19,31,26.4866089821, +109,,,,,,,,,,, +110,,,,,,,,,,, +110,BOWL,SUM,1,0,1,0,0,5,44,0, +110,CUP,SUM,0,0,0,0,0,0,8,6.6443140507, +110,SPOON,SUM,0,0,0,0,0,14,3,11.3886129856, +110,,SUM,1,0,1,0,0,19,55,18.0329270363, +110,,,,,,,,,,, +111,,,,,,,,,,, +111,BOWL,SUM,1,0,1,0,0,21,44,0, +111,CUP,SUM,1,1,0,0,24,40,0,0, +111,SPOON,SUM,1,0,1,0,0,10,44,0, +111,,SUM,3,1,2,0,24,71,88,0, +111,,,,,,,,,,, +112,,,,,,,,,,, +112,BOWL,SUM,0,0,0,0,0,8,2,7.2476820946, +112,CUP,SUM,0,0,0,0,0,2,6,5.13134408, +112,SPOON,SUM,0,0,0,0,0,5,1,9.9607899189, +112,,SUM,0,0,0,0,0,15,9,22.3398160934, +112,,,,,,,,,,, +113,,,,,,,,,,, +113,BOWL,SUM,1,0,1,0,0,15,44,0, +113,CUP,SUM,1,0,1,0,8,5,49,0, +113,SPOON,SUM,0,0,0,0,0,7,31,16.161452055, +113,,SUM,2,0,2,0,8,27,124,16.161452055, +113,,,,,,,,,,, +114,,,,,,,,,,, +114,BOWL,SUM,1,0,1,0,8,26,44,0, +114,CUP,SUM,0,0,0,0,16,2,5,12.0059139729, +114,SPOON,SUM,1,0,1,0,0,14,44,0, +114,,SUM,2,0,2,0,24,42,93,12.0059139729, +114,,,,,,,,,,, +115,,,,,,,,,,, +115,BOWL,SUM,0,0,0,0,24,10,29,21.0402109623, +115,CUP,SUM,1,0,1,0,0,9,33,0, +115,SPOON,SUM,1,0,1,0,0,10,44,0, +115,,SUM,2,0,2,0,24,29,106,21.0402109623, +115,,,,,,,,,,, +116,,,,,,,,,,, +116,BOWL,SUM,1,0,1,0,0,24,44,0, +116,CUP,SUM,0,0,0,0,0,0,38,10.7499389648, +116,SPOON,SUM,0,0,0,0,0,1,0,9.9788239002, +116,,SUM,1,0,1,0,0,25,82,20.7287628651, +116,,,,,,,,,,, +117,,,,,,,,,,, +117,BOWL,SUM,1,0,1,0,0,42,40,0, +117,CUP,SUM,0,0,0,0,0,5,3,4.9641079903, +117,SPOON,SUM,0,0,0,0,0,5,0,9.9034800529, +117,,SUM,1,0,1,0,0,52,43,14.8675880432, +117,,,,,,,,,,, +118,,,,,,,,,,, +118,BOWL,SUM,1,1,0,0,96,9,0,0, +118,CUP,SUM,1,0,1,0,0,12,33,0, +118,SPOON,SUM,0,0,0,0,0,4,4,10.6765151024, +118,,SUM,2,1,1,0,96,25,37,10.6765151024, +118,,,,,,,,,,, +119,,,,,,,,,,, +119,BOWL,SUM,1,0,1,0,0,15,44,0, +119,CUP,SUM,0,0,0,0,0,14,6,5.4586949348, +119,SPOON,SUM,0,0,0,0,8,3,9,16.0127439499, +119,,SUM,1,0,1,0,8,32,59,21.4714388847, +119,,,,,,,,,,, +120,,,,,,,,,,, +120,BOWL,SUM,1,0,1,0,0,6,44,0, +120,CUP,SUM,0,0,0,0,0,1,8,6.1562922001, +120,SPOON,SUM,1,0,1,0,0,34,44,0, +120,,SUM,2,0,2,0,0,41,96,6.1562922001, +120,,,,,,,,,,, +121,,,,,,,,,,, +121,BOWL,SUM,1,0,0,1,8,25,47,0, +121,CUP,SUM,0,0,0,0,0,7,29,8.6942539215, +121,SPOON,SUM,0,0,0,0,32,7,0,22.842648983, +121,,SUM,1,0,0,1,40,39,76,31.5369029045, +121,,,,,,,,,,, +122,,,,,,,,,,, +122,BOWL,SUM,1,0,1,0,32,9,44,0, +122,CUP,SUM,1,0,1,0,0,41,30,0, +122,SPOON,SUM,0,0,0,0,0,2,0,10.0144908428, +122,,SUM,2,0,2,0,32,52,74,10.0144908428, +122,,,,,,,,,,, +123,,,,,,,,,,, +123,BOWL,SUM,1,0,1,0,8,36,40,0, +123,CUP,SUM,0,0,0,0,0,0,6,4.5151400566, +123,SPOON,SUM,0,0,0,0,0,1,0,9.7148361206, +123,,SUM,1,0,1,0,8,37,46,14.2299761772, +123,,,,,,,,,,, +124,,,,,,,,,,, +124,BOWL,SUM,1,0,0,1,0,2,19,0, +124,CUP,SUM,1,0,1,0,0,36,11,0, +124,SPOON,SUM,0,0,0,0,0,0,4,10.4653279781, +124,,SUM,2,0,1,1,0,38,34,10.4653279781, +124,,,,,,,,,,, +125,,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,5,37,13.6137499809, +125,CUP,SUM,1,0,1,0,0,20,33,0, +125,SPOON,SUM,0,0,0,0,0,6,28,15.4622981548, +125,,SUM,1,0,1,0,0,31,98,29.0760481358, +125,,,,,,,,,,, +126,,,,,,,,,,, +126,BOWL,SUM,1,0,1,0,0,23,44,0, +126,CUP,SUM,0,0,0,0,0,7,10,8.4861087799, +126,SPOON,SUM,0,0,0,0,0,0,6,11.4946870804, +126,,SUM,1,0,1,0,0,30,60,19.9807958603, +126,,,,,,,,,,, +127,,,,,,,,,,, +127,BOWL,SUM,1,0,1,0,0,14,44,0, +127,CUP,SUM,0,0,0,0,0,1,4,5.0686948299, +127,SPOON,SUM,1,0,1,0,0,10,44,0, +127,,SUM,2,0,2,0,0,25,92,5.0686948299, +127,,,,,,,,,,, +128,,,,,,,,,,, +128,BOWL,SUM,1,0,0,1,0,3,11,0, +128,CUP,SUM,1,0,1,0,0,20,11,0, +128,SPOON,SUM,0,0,0,0,8,1,0,14.1841220856, +128,,SUM,2,0,1,1,8,24,22,14.1841220856, +128,,,,,,,,,,, +129,,,,,,,,,,, +129,BOWL,SUM,1,0,1,0,0,10,44,0, +129,CUP,SUM,1,0,1,0,8,10,81,0, +129,SPOON,SUM,1,0,1,0,0,6,44,0, +129,,SUM,3,0,3,0,8,26,169,0, +129,,,,,,,,,,, +130,,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,0,4,8.6438801289, +130,CUP,SUM,0,0,0,0,0,10,6,5.2915380001, +130,SPOON,SUM,0,0,0,0,0,3,11,13.3512639999, +130,,SUM,0,0,0,0,0,13,21,27.2866821289, +130,,,,,,,,,,, +131,,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,8,5,40,20.4245080948, +131,CUP,SUM,1,0,1,0,0,72,45,0, +131,SPOON,SUM,0,0,0,0,0,2,24,15.6421468258, +131,,SUM,1,0,1,0,8,79,109,36.0666549206, +131,,,,,,,,,,, +132,,,,,,,,,,, +132,BOWL,SUM,0,0,0,0,0,17,26,13.43572402, +132,CUP,SUM,0,0,0,0,16,7,7,14.698168993, +132,SPOON,SUM,1,0,1,0,0,10,44,0, +132,,SUM,1,0,1,0,16,34,77,28.133893013, +132,,,,,,,,,,, +133,,,,,,,,,,, +133,BOWL,,,,,,,,,, +133,CUP,BOWL,SUM,0,0,0,0,0,3,20,11.8010160923 +133,SPOON,CUP,SUM,1,0,1,0,0,7,11,0 +133,,SPOON,SUM,0,0,0,0,16,6,1,24.7989139557 +133,,,SUM,1,0,1,0,16,16,32,36.599930048 +134,,,,,,,,,,, +134,BOWL,SUM,0,0,0,0,0,11,10,9.5188651085, +134,CUP,SUM,0,0,0,0,0,1,7,7.6647639275, +134,SPOON,SUM,0,0,0,0,16,6,4,19.6616859436, +134,,SUM,0,0,0,0,16,18,21,36.8453149796, +134,,,,,,,,,,, +135,,,,,,,,,,, +135,BOWL,SUM,1,0,0,1,8,2,13,0, +135,CUP,SUM,1,0,1,0,8,16,33,0, +135,SPOON,SUM,0,0,0,0,0,0,1,11.9704418182, +135,,SUM,2,0,1,1,16,18,47,11.9704418182, +135,,,,,,,,,,, +136,,,,,,,,,,, +136,BOWL,SUM,1,0,1,0,0,26,44,0, +136,CUP,SUM,0,0,0,0,0,0,3,7.1904070377, +136,SPOON,SUM,1,0,1,0,0,11,44,0, +136,,SUM,2,0,2,0,0,37,91,7.1904070377, +136,,,,,,,,,,, +137,,,,,,,,,,, +137,BOWL,SUM,1,0,1,0,4,8,44,0, +137,CUP,SUM,0,0,0,0,0,2,6,5.923648119, +137,SPOON,SUM,1,0,1,0,16,8,44,0, +137,,SUM,2,0,2,0,20,18,94,5.923648119, +137,,,,,,,,,,, +138,,,,,,,,,,, +138,BOWL,SUM,1,0,1,0,0,10,44,0, +138,CUP,SUM,0,0,0,0,24,4,11,23.4751749039, +138,SPOON,SUM,1,0,1,0,0,15,44,0, +138,,SUM,2,0,2,0,24,29,99,23.4751749039, +138,,,,,,,,,,, +139,,,,,,,,,,, +139,BOWL,SUM,1,0,0,1,0,4,11,0, +139,CUP,SUM,0,0,0,0,8,64,12,36.9832060337, +139,SPOON,SUM,0,0,0,0,0,2,4,12.1681649685, +139,,SUM,1,0,0,1,8,70,27,49.1513710022, +139,,,,,,,,,,, +140,,,,,,,,,,, +140,BOWL,SUM,0,0,0,0,0,3,18,11.8182878494, +140,CUP,SUM,0,0,0,0,16,3,4,16.7213029861, +140,SPOON,SUM,1,1,0,0,8,71,0,0, +140,,SUM,1,1,0,0,24,77,22,28.5395908356, +140,,,,,,,,,,, +141,,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,9,13,15.1042940617, +141,CUP,SUM,1,0,1,0,12,13,11,0, +141,SPOON,SUM,0,0,0,0,48,6,12,43.8079309464, +141,,SUM,1,0,1,0,68,28,36,58.912225008, +141,,,,,,,,,,, +142,,,,,,,,,,, +142,BOWL,SUM,1,0,0,1,32,9,11,0, +142,CUP,SUM,0,0,0,0,0,0,4,6.2575290203, +142,SPOON,SUM,1,0,1,0,8,14,44,0, +142,,SUM,2,0,1,1,40,23,59,6.2575290203, +142,,,,,,,,,,, +143,,,,,,,,,,, +143,BOWL,SUM,1,0,1,0,0,12,44,0, +143,CUP,SUM,0,0,0,0,0,0,6,5.9623861313, +143,SPOON,SUM,0,0,0,0,0,17,16,15.0095448494, +143,,SUM,1,0,1,0,0,29,66,20.9719309807, +143,,,,,,,,,,, +144,,,,,,,,,,, +144,BOWL,SUM,1,0,0,1,16,4,11,0, +144,CUP,SUM,0,0,0,0,0,3,9,8.5464868546, +144,SPOON,SUM,1,0,1,0,0,24,44,0, +144,,SUM,2,0,1,1,16,31,64,8.5464868546, +144,,,,,,,,,,, +145,,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,0,8,11.432997942, +145,CUP,SUM,0,0,0,0,0,3,4,6.0902090073, +145,SPOON,SUM,1,0,1,0,0,157,24,0, +145,,SUM,1,0,1,0,0,160,36,17.5232069492, +145,,,,,,,,,,, +146,,,,,,,,,,, +146,BOWL,SUM,1,0,0,1,0,2,11,0, +146,CUP,SUM,1,1,0,0,8,71,0,0, +146,SPOON,SUM,1,0,1,0,56,13,44,0, +146,,SUM,3,1,1,1,64,86,55,0, +146,,,,,,,,,,, +147,,,,,,,,,,, +147,BOWL,SUM,1,0,1,0,0,26,44,0, +147,CUP,SUM,1,0,1,0,8,13,43,0, +147,SPOON,SUM,0,0,0,0,0,1,8,13.0368509293, +147,,SUM,2,0,2,0,8,40,95,13.0368509293, +147,,,,,,,,,,, +148,,,,,,,,,,, +148,BOWL,SUM,1,0,1,0,0,4,44,0, +148,CUP,SUM,1,0,1,0,0,10,33,0, +148,SPOON,SUM,1,1,0,0,8,41,0,0, +148,,SUM,3,1,2,0,8,55,77,0, +148,,,,,,,,,,, +149,,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,2,14,11.6629359722, +149,CUP,SUM,0,0,0,0,0,3,28,11.6526257992, +149,SPOON,SUM,1,0,1,0,0,18,44,0, +149,,SUM,1,0,1,0,0,23,86,23.3155617714, +149,,,,,,,,,,, +150,,,,,,,,,,, +150,BOWL,SUM,1,0,1,0,8,9,44,0, +150,CUP,SUM,0,0,0,0,0,0,6,6.8687500954, +150,SPOON,SUM,0,0,0,0,0,7,29,17.9745469093, +150,,SUM,1,0,1,0,8,16,79,24.8432970047, +150,,,,,,,,,,, +151,,,,,,,,,,, +151,BOWL,SUM,1,0,1,0,0,11,44,0, +151,CUP,SUM,0,0,0,0,60,11,24,44.5633671284, +151,SPOON,SUM,1,1,0,0,8,71,0,0, +151,,SUM,2,1,1,0,68,93,68,44.5633671284, +151,,,,,,,,,,, +152,,,,,,,,,,, +152,BOWL,SUM,1,0,1,0,0,28,44,0, +152,CUP,SUM,0,0,0,0,0,0,2,5.480312109, +152,SPOON,SUM,0,0,0,0,0,4,20,15.8566520214, +152,,SUM,1,0,1,0,0,32,66,21.3369641304, +152,,,,,,,,,,, +153,,,,,,,,,,, +153,BOWL,SUM,1,0,1,0,0,8,44,0, +153,CUP,SUM,0,0,0,0,16,5,7,17.0104131699, +153,SPOON,SUM,0,0,0,0,0,2,0,10.861438036, +153,,SUM,1,0,1,0,16,15,51,27.8718512058, +153,,,,,,,,,,, +154,,,,,,,,,,, +154,BOWL,SUM,1,0,1,0,0,341,0,0, +154,CUP,SUM,0,0,0,0,0,1,3,6.3119931221, +154,SPOON,SUM,0,0,0,0,0,3,16,15.1821382046, +154,,SUM,1,0,1,0,0,345,19,21.4941313267, +154,,,,,,,,,,, +155,,,,,,,,,,, +155,BOWL,SUM,1,0,1,0,0,24,44,0, +155,CUP,SUM,1,0,1,0,16,11,33,0, +155,SPOON,SUM,0,0,0,0,0,3,2,12.6849770546, +155,,SUM,2,0,2,0,16,38,79,12.6849770546, +155,,,,,,,,,,, +156,,,,,,,,,,, +156,BOWL,SUM,1,0,1,0,0,42,40,0, +156,CUP,SUM,0,0,0,0,0,0,9,6.7622821331, +156,SPOON,SUM,0,0,0,0,0,7,0,11.763199091, +156,,SUM,1,0,1,0,0,49,49,18.5254812241, +156,,,,,,,,,,, +157,,,,,,,,,,, +157,BOWL,SUM,1,0,1,0,0,13,44,0, +157,CUP,SUM,0,0,0,0,8,6,8,13.2593421936, +157,SPOON,SUM,0,0,0,0,0,1,9,14.0687110424, +157,,SUM,1,0,1,0,8,20,61,27.328053236, +157,,,,,,,,,,, +158,,,,,,,,,,, +158,BOWL,SUM,1,0,1,0,8,16,44,0, +158,CUP,SUM,0,0,0,0,32,5,18,31.896447897, +158,SPOON,SUM,0,0,0,0,0,4,22,17.0525698662, +158,,SUM,1,0,1,0,40,25,84,48.9490177631, +158,,,,,,,,,,, +159,,,,,,,,,,, +159,BOWL,SUM,0,0,0,0,0,15,17,11.7529029846, +159,CUP,SUM,1,0,0,1,0,5,36,0, +159,SPOON,SUM,0,0,0,0,14,9,34,27.2936820984, +159,,SUM,1,0,0,1,14,29,87,39.046585083, +159,,,,,,,,,,, +160,,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,8,28,3,16.12439394, +160,CUP,SUM,1,1,0,0,88,7,0,0, +160,SPOON,SUM,1,0,1,0,0,56,40,0, +160,,SUM,2,1,1,0,96,91,43,16.12439394, +160,,,,,,,,,,, +161,,,,,,,,,,, +161,BOWL,SUM,0,0,0,0,0,5,21,12.1083211899, +161,CUP,SUM,0,0,0,0,0,6,14,7.321873188, +161,SPOON,SUM,0,0,0,0,0,2,0,10.8815219402, +161,,SUM,0,0,0,0,0,13,35,30.3117163181, +161,,,,,,,,,,, +162,,,,,,,,,,, +162,BOWL,SUM,1,0,1,0,16,7,44,0, +162,CUP,SUM,1,0,0,1,0,3,11,0, +162,SPOON,SUM,1,0,1,0,0,13,44,0, +162,,SUM,3,0,2,1,16,23,99,0, +162,,,,,,,,,,, +163,,,,,,,,,,, +163,BOWL,SUM,0,0,0,0,0,6,37,15.5653710365, +163,CUP,SUM,1,0,0,1,0,5,17,0, +163,SPOON,SUM,0,0,0,0,0,1,7,13.0041890144, +163,,SUM,1,0,0,1,0,12,61,28.569560051, +163,,,,,,,,,,, +164,,,,,,,,,,, +164,BOWL,SUM,0,0,0,0,0,9,50,18.9871940613, +164,CUP,SUM,0,0,0,0,0,7,14,8.2136371136, +164,SPOON,SUM,0,0,0,0,0,1,0,11.0881400108, +164,,SUM,0,0,0,0,0,17,64,38.2889711857, +164,,,,,,,,,,, +165,,,,,,,,,,, +165,BOWL,SUM,0,0,0,0,0,7,42,18.5211920738, +165,CUP,SUM,1,0,1,0,0,25,33,0, +165,SPOON,SUM,0,0,0,0,8,14,24,21.5657382011, +165,,SUM,1,0,1,0,8,46,99,40.086930275, +165,,,,,,,,,,, +166,,,,,,,,,,, +166,BOWL,SUM,1,0,1,0,16,9,44,0, +166,CUP,SUM,0,0,0,0,0,1,13,8.9795269966, +166,SPOON,SUM,1,0,1,0,0,14,44,0, +166,,SUM,2,0,2,0,16,24,101,8.9795269966, +166,,,,,,,,,,, +167,,,,,,,,,,, +167,BOWL,SUM,0,0,0,0,0,10,14,15.3389379978, +167,CUP,SUM,0,0,0,0,16,6,16,22.1768651009, +167,SPOON,SUM,0,0,0,0,0,11,4,12.492866993, +167,,SUM,0,0,0,0,16,27,34,50.0086700916, +167,,,,,,,,,,, +168,,,,,,,,,,, +168,BOWL,SUM,0,0,0,0,0,0,1,8.3621249199, +168,CUP,SUM,1,0,1,0,0,4,33,0, +168,SPOON,SUM,1,0,1,0,0,13,44,0, +168,,SUM,2,0,2,0,0,17,78,8.3621249199, +168,,,,,,,,,,, +169,,,,,,,,,,, +169,BOWL,SUM,1,0,0,1,8,12,23,0, +169,CUP,SUM,1,0,1,0,24,27,77,0, +169,SPOON,SUM,0,0,0,0,0,2,0,10.2206320763, +169,,SUM,2,0,1,1,32,41,100,10.2206320763, +169,,,,,,,,,,, +170,,,,,,,,,,, +170,BOWL,SUM,0,0,0,0,20,0,6,22.3981318474, +170,CUP,SUM,0,0,0,0,0,7,2,5.4617760181, +170,SPOON,SUM,0,0,0,0,0,0,10,14.7321579456, +170,,SUM,0,0,0,0,20,7,18,42.5920658112, +170,,,,,,,,,,, +171,,,,,,,,,,, +171,BOWL,SUM,1,0,1,0,0,14,44,0, +171,CUP,SUM,0,0,0,0,16,3,12,18.2048490047, +171,SPOON,SUM,0,0,0,0,0,0,0,11.387693882, +171,,SUM,1,0,1,0,16,17,56,29.5925428867, +171,,,,,,,,,,, +172,,,,,,,,,,, +172,BOWL,SUM,0,0,0,0,16,6,1,18.9545619488, +172,CUP,SUM,0,0,0,0,16,2,5,16.498800993, +172,SPOON,SUM,1,0,1,0,0,21,44,0, +172,,SUM,1,0,1,0,32,29,50,35.4533629417, +172,,,,,,,,,,, +173,,,,,,,,,,, +173,BOWL,SUM,0,0,0,0,8,2,6,15.099834919, +173,CUP,SUM,1,0,1,0,0,13,77,0, +173,SPOON,SUM,0,0,0,0,0,3,0,11.2342867851, +173,,SUM,1,0,1,0,8,18,83,26.3341217041, +173,,,,,,,,,,, +174,,,,,,,,,,, +174,BOWL,SUM,1,0,1,0,0,16,44,0, +174,CUP,SUM,0,0,0,0,0,5,10,8.7305181026, +174,SPOON,SUM,0,0,0,0,0,3,10,14.4291517735, +174,,SUM,1,0,1,0,0,24,64,23.1596698761, +174,,,,,,,,,,, +175,,,,,,,,,,, +175,BOWL,SUM,0,0,0,0,8,10,13,18.8611459732, +175,CUP,SUM,1,0,1,0,0,15,39,0, +175,SPOON,SUM,0,0,0,0,8,6,17,19.5398159027, +175,,SUM,1,0,1,0,16,31,69,38.4009618759, +175,,,,,,,,,,, +176,,,,,,,,,,, +176,BOWL,SUM,0,0,0,0,0,0,4,10.1839029789, +176,CUP,SUM,0,0,0,0,0,0,3,7.5769870281, +176,SPOON,SUM,1,0,1,0,8,12,44,0, +176,,SUM,1,0,1,0,8,12,51,17.760890007, +176,,,,,,,,,,, +177,,,,,,,,,,, +177,BOWL,SUM,1,0,1,0,8,10,44,0, +177,CUP,SUM,0,0,0,0,0,3,12,7.454474926, +177,SPOON,SUM,0,0,0,0,0,0,1,10.6336429119, +177,,SUM,1,0,1,0,8,13,57,18.0881178379, +177,,,,,,,,,,, +178,,,,,,,,,,, +178,BOWL,SUM,0,0,0,0,0,0,2,9.6163320541, +178,CUP,SUM,1,0,1,0,8,15,11,0, +178,SPOON,SUM,0,0,0,0,0,13,14,15.2853200436, +178,,SUM,1,0,1,0,8,28,27,24.9016520977, +178,,,,,,,,,,, +179,,,,,,,,,,, +179,BOWL,SUM,1,0,1,0,0,19,44,0, +179,CUP,SUM,0,0,0,0,0,1,7,7.8703119755, +179,SPOON,SUM,0,0,0,0,12,3,10,21.2854120731, +179,,SUM,1,0,1,0,12,23,61,29.1557240486, +179,,,,,,,,,,, +180,,,,,,,,,,, +180,BOWL,SUM,1,0,0,1,40,8,11,0, +180,CUP,SUM,0,0,0,0,0,6,11,10.2074959278, +180,SPOON,SUM,0,0,0,0,16,2,4,21.9615950584, +180,,SUM,1,0,0,1,56,16,26,32.1690909863, +180,,,,,,,,,,, +181,,,,,,,,,,, +181,BOWL,SUM,1,0,1,0,0,19,44,0, +181,CUP,SUM,0,0,0,0,0,6,13,7.9505028725, +181,SPOON,SUM,0,0,0,0,16,1,0,22.5744860172, +181,,SUM,1,0,1,0,16,26,57,30.5249888897, +181,,,,,,,,,,, +182,,,,,,,,,,, +182,BOWL,SUM,0,0,0,0,8,3,21,19.5262699127, +182,CUP,SUM,1,0,1,0,0,10,33,0, +182,SPOON,SUM,1,0,1,0,0,25,44,0, +182,,SUM,2,0,2,0,8,38,98,19.5262699127, +182,,,,,,,,,,, +183,,,,,,,,,,, +183,BOWL,SUM,1,0,0,1,8,0,13,0, +183,CUP,SUM,0,0,0,0,0,1,2,8.4699010849, +183,SPOON,SUM,1,0,1,0,0,28,44,0, +183,,SUM,2,0,1,1,8,29,59,8.4699010849, +183,,,,,,,,,,, +184,,,,,,,,,,, +184,BOWL,SUM,1,0,1,0,0,174,24,0, +184,CUP,SUM,0,0,0,0,0,0,15,8.2353930473, +184,SPOON,SUM,0,0,0,0,0,4,5,14.0056550503, +184,,SUM,1,0,1,0,0,178,44,22.2410480976, +184,,,,,,,,,,, +185,,,,,,,,,,, +185,BOWL,SUM,1,1,0,0,96,6,0,0, +185,CUP,SUM,0,0,0,0,16,13,6,50.9591639042, +185,SPOON,SUM,1,0,1,0,0,15,44,0, +185,,SUM,2,1,1,0,112,34,50,50.9591639042, +185,,,,,,,,,,, +186,,,,,,,,,,, +186,BOWL,SUM,0,0,0,0,0,0,4,9.7632758617, +186,CUP,SUM,1,0,0,1,20,6,13,0, +186,SPOON,SUM,1,0,1,0,0,28,44,0, +186,,SUM,2,0,1,1,20,34,61,9.7632758617, +186,,,,,,,,,,, +187,,,,,,,,,,, +187,BOWL,SUM,1,0,1,0,12,10,44,0, +187,CUP,SUM,0,0,0,0,0,2,2,6.8748562336, +187,SPOON,SUM,0,0,0,0,0,1,0,11.1090378761, +187,,SUM,1,0,1,0,12,13,46,17.9838941097, +187,,,,,,,,,,, +188,,,,,,,,,,, +188,BOWL,SUM,1,0,1,0,16,15,44,0, +188,CUP,SUM,0,0,0,0,0,1,6,6.037142992, +188,SPOON,SUM,0,0,0,0,16,3,1,22.871876955, +188,,SUM,1,0,1,0,32,19,51,28.9090199471, +188,,,,,,,,,,, +189,,,,,,,,,,, +189,BOWL,SUM,0,0,0,0,0,3,0,8.9889361858, +189,CUP,SUM,0,0,0,0,0,2,12,7.1721839905, +189,SPOON,SUM,0,0,0,0,16,9,40,29.7200610638, +189,,SUM,0,0,0,0,16,14,52,45.8811812401, +189,,,,,,,,,,, +190,,,,,,,,,,, +190,BOWL,SUM,0,0,0,0,0,5,15,11.6802399158, +190,CUP,SUM,1,0,1,0,0,55,10,0, +190,SPOON,SUM,0,0,0,0,0,4,5,12.5475389957, +190,,SUM,1,0,1,0,0,64,30,24.2277789116, +190,,,,,,,,,,, +191,,,,,,,,,,, +191,BOWL,SUM,0,0,0,0,8,32,20,19.5476880074, +191,CUP,SUM,0,0,0,0,0,22,8,7.9055600166, +191,SPOON,SUM,0,0,0,0,26,3,4,28.8938138485, +191,,SUM,0,0,0,0,34,57,32,56.3470618725, +191,,,,,,,,,,, +192,,,,,,,,,,, +192,BOWL,SUM,1,0,1,0,0,12,44,0, +192,CUP,SUM,0,0,0,0,0,4,4,7.2315981388, +192,SPOON,SUM,0,0,0,0,0,1,0,11.6747610569, +192,,SUM,1,0,1,0,0,17,48,18.9063591957, +192,,,,,,,,,,, +193,,,,,,,,,,, +193,BOWL,SUM,0,0,0,0,24,4,6,25.858355999, +193,CUP,SUM,1,0,1,0,0,26,33,0, +193,SPOON,SUM,0,0,0,0,0,5,28,17.0169429779, +193,,SUM,1,0,1,0,24,35,67,42.8752989769, +193,,,,,,,,,,, +194,,,,,,,,,,, +194,BOWL,SUM,1,0,1,0,0,7,44,0, +194,CUP,SUM,0,0,0,0,0,0,2,4.9429750443, +194,SPOON,SUM,1,0,1,0,0,341,0,0, +194,,SUM,2,0,2,0,0,348,46,4.9429750443, +194,,,,,,,,,,, +195,,,,,,,,,,, +195,BOWL,SUM,0,0,0,0,0,1,8,10.3405179977, +195,CUP,SUM,1,0,1,0,0,21,33,0, +195,SPOON,SUM,1,0,1,0,0,8,44,0, +195,,SUM,2,0,2,0,0,30,85,10.3405179977, +195,,,,,,,,,,, +196,,,,,,,,,,, +196,BOWL,SUM,1,0,1,0,0,37,40,0, +196,CUP,SUM,0,0,0,0,0,5,13,11.7845001221, +196,SPOON,SUM,0,0,0,0,0,5,17,14.992718935, +196,,SUM,1,0,1,0,0,47,70,26.7772190571, +196,,,,,,,,,,, +197,,,,,,,,,,, +197,BOWL,SUM,1,0,0,1,0,6,13,0, +197,CUP,SUM,1,0,1,0,4,10,11,0, +197,SPOON,SUM,0,0,0,0,8,6,37,25.0864229202, +197,,SUM,2,0,1,1,12,22,61,25.0864229202, +197,,,,,,,,,,, +198,,,,,,,,,,, +198,BOWL,SUM,0,0,0,0,8,8,5,17.2684919834, +198,CUP,SUM,1,1,0,0,8,80,0,0, +198,SPOON,SUM,0,0,0,0,0,2,25,16.5347821712, +198,,SUM,1,1,0,0,16,90,30,33.8032741547, +198,,,,,,,,,,, +199,,,,,,,,,,, +199,BOWL,SUM,1,0,1,0,0,28,44,0, +199,CUP,SUM,0,0,0,0,0,2,5,7.9615008831, +199,SPOON,SUM,0,0,0,0,0,5,36,18.3941440582, +199,,SUM,1,0,1,0,0,35,85,26.3556449413, +199,,,,,,,,,,, From 6d144dae09ed67331702727a4c27cc2eb662d8f4 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Mon, 9 Dec 2019 12:11:44 +0100 Subject: [PATCH 19/38] [kvr exp] renaming experiment data files to fit the table for clarity --- .../{heuristics_boxy_failures.csv => heur_boxy_orig.csv} | 0 .../{heuristics_pr2_new_kitchen_failures.csv => heur_pr2_new.csv} | 0 .../{heuristics_pr2_failures.csv => heur_pr2_orig.csv} | 0 3 files changed, 0 insertions(+), 0 deletions(-) rename cram_knowrob/cram_knowrob_vr/experiments/{heuristics_boxy_failures.csv => heur_boxy_orig.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{heuristics_pr2_new_kitchen_failures.csv => heur_pr2_new.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{heuristics_pr2_failures.csv => heur_pr2_orig.csv} (100%) diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heuristics_boxy_failures.csv rename to cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_orig.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_new.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_new_kitchen_failures.csv rename to cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_new.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv b/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heuristics_pr2_failures.csv rename to cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_orig.csv From 72dd29900417e77a8cfa00db2246ee2547d2b59d Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Mon, 9 Dec 2019 13:56:29 +0100 Subject: [PATCH 20/38] [kvr exp] added heuristics boxy new kitchen data --- .../experiments/heur_boxy_new.csv | 1206 +++++++++++++++++ 1 file changed, 1206 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_new.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_new.csv b/cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_new.csv new file mode 100644 index 0000000000..2838427ce5 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_new.csv @@ -0,0 +1,1206 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,0,6,6,15.7989089489 +0,CUP,SUM,0,0,0,0,2,3,8,8.3967828751 +0,SPOON,SUM,0,0,0,0,0,1,0,11.3606410027 +0,,SUM,0,0,0,0,2,10,14,35.5563328266 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,0,0,0,0,16,11,0,15.0820300579 +1,CUP,SUM,0,0,0,0,0,3,20,14.1886210442 +1,SPOON,SUM,0,0,0,0,0,1,0,11.2034759521 +1,,SUM,0,0,0,0,16,15,20,40.4741270542 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,0,0,0,0,8,5,0,11.8901760578 +2,CUP,SUM,0,0,0,0,0,3,8,7.711370945 +2,SPOON,SUM,0,0,0,0,8,17,0,14.9883639812 +2,,SUM,0,0,0,0,16,25,8,34.589910984 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,0,0,0,0,16,7,41,32.0300071239 +3,CUP,SUM,0,0,0,0,0,5,77,27.8288981915 +3,SPOON,SUM,1,0,1,0,0,23,19,0 +3,,SUM,1,0,1,0,16,35,137,59.8589053154 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,0,0,0,0,0,3,0,7.6659319401 +4,CUP,SUM,0,0,0,0,2,5,38,15.7413299084 +4,SPOON,SUM,1,0,1,0,0,342,0,0 +4,,SUM,1,0,1,0,2,350,38,23.4072618484 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,0,0,0,0,0,2,1,10.6052951813 +5,CUP,SUM,0,0,0,0,8,6,17,15.5771460533 +5,SPOON,SUM,1,0,1,0,0,9,11,0 +5,,SUM,1,0,1,0,8,17,29,26.1824412346 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,0,0,0,0,24,5,0,19.4739069939 +6,CUP,SUM,0,0,0,0,0,8,8,7.7932510376 +6,SPOON,SUM,1,0,1,0,0,20,11,0 +6,,SUM,1,0,1,0,24,33,19,27.2671580315 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,0,0,0,0,0,5,12,11.8866109848 +7,CUP,SUM,0,0,0,0,0,6,8,7.5841121674 +7,SPOON,SUM,1,0,1,0,0,41,10,0 +7,,SUM,1,0,1,0,0,52,30,19.4707231522 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,0,0,0,0,0,8,21,18.0371940136 +8,CUP,SUM,0,0,0,0,0,10,23,13.657638073 +8,SPOON,SUM,1,0,1,0,0,66,10,0 +8,,SUM,1,0,1,0,0,84,54,31.6948320866 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,0,0,0,0,0,1,0,7.8348038197 +9,CUP,SUM,0,0,0,0,8,6,8,11.8644549847 +9,SPOON,SUM,0,0,0,0,0,12,1,12.2061028481 +9,,SUM,0,0,0,0,8,19,9,31.9053616524 +9,,,,,,,,,, +10,,,,,,,,,, +10,BOWL,SUM,0,0,0,0,0,4,7,15.7883968353 +10,CUP,SUM,0,0,0,0,0,12,8,9.3832139969 +10,SPOON,SUM,0,0,0,0,0,3,0,11.7502429485 +10,,SUM,0,0,0,0,0,19,15,36.9218537807 +10,,,,,,,,,, +11,,,,,,,,,, +11,BOWL,SUM,0,0,0,0,0,1,1,8.5644159317 +11,CUP,SUM,0,0,0,0,0,10,28,19.3353888988 +11,SPOON,SUM,0,0,0,0,0,3,2,13.7747700214 +11,,SUM,0,0,0,0,0,14,31,41.674574852 +11,,,,,,,,,, +12,,,,,,,,,, +12,BOWL,SUM,1,0,1,0,8,12,20,0 +12,CUP,SUM,0,0,0,0,0,4,16,16.2316439152 +12,SPOON,SUM,0,0,0,0,2,2,4,13.7078499794 +12,,SUM,1,0,1,0,10,18,40,29.9394938946 +12,,,,,,,,,, +13,,,,,,,,,, +13,BOWL,SUM,0,0,0,0,0,6,4,10.5884041786 +13,CUP,SUM,1,0,1,0,0,10,55,0 +13,SPOON,SUM,0,0,0,0,0,0,0,10.3811428547 +13,,SUM,1,0,1,0,0,16,59,20.9695470333 +13,,,,,,,,,, +14,,,,,,,,,, +14,BOWL,SUM,0,0,0,0,0,8,32,18.9185340405 +14,CUP,SUM,0,0,0,0,0,1,8,7.8663451672 +14,SPOON,SUM,0,0,0,0,0,5,7,16.8005578518 +14,,SUM,0,0,0,0,0,14,47,43.5854370594 +14,,,,,,,,,, +15,,,,,,,,,, +15,BOWL,SUM,0,0,0,0,0,5,0,8.3545849323 +15,CUP,SUM,1,0,1,0,24,8,114,0 +15,SPOON,SUM,0,0,0,0,0,5,0,11.1025650501 +15,,SUM,1,0,1,0,24,18,114,19.4571499825 +15,,,,,,,,,, +16,,,,,,,,,, +16,BOWL,SUM,1,1,0,0,0,42,0,0 +16,CUP,SUM,1,1,0,0,0,42,0,0 +16,SPOON,SUM,1,1,0,0,0,42,0,0 +16,,SUM,3,3,0,0,0,126,0,0 +16,,,,,,,,,, +17,,,,,,,,,, +17,BOWL,SUM,0,0,0,0,8,27,21,25.2107310295 +17,CUP,SUM,1,1,0,0,0,42,0,0 +17,SPOON,SUM,0,0,0,0,16,28,0,23.3357667923 +17,,SUM,1,1,0,0,24,97,21,48.5464978218 +17,,,,,,,,,, +18,,,,,,,,,, +18,BOWL,SUM,0,0,0,0,0,3,0,8.2551240921 +18,CUP,SUM,0,0,0,0,0,5,54,25.2994511127 +18,SPOON,SUM,0,0,0,0,0,1,0,10.6246819496 +18,,SUM,0,0,0,0,0,9,54,44.1792571545 +18,,,,,,,,,, +19,,,,,,,,,, +19,BOWL,SUM,0,0,0,0,0,0,0,8.556732893 +19,CUP,SUM,0,0,0,0,0,5,9,9.7596869469 +19,SPOON,SUM,1,0,1,0,8,9,11,0 +19,,SUM,1,0,1,0,8,14,20,18.3164198399 +19,,,,,,,,,, +20,,,,,,,,,, +20,BOWL,SUM,0,0,0,0,0,6,0,7.9355909824 +20,CUP,SUM,0,0,0,0,0,19,47,22.8868961334 +20,SPOON,SUM,0,0,0,0,0,0,0,10.7301909924 +20,,SUM,0,0,0,0,0,25,47,41.5526781082 +20,,,,,,,,,, +21,,,,,,,,,, +21,BOWL,SUM,1,0,1,0,2,11,44,0 +21,CUP,SUM,0,0,0,0,0,8,9,9.1454179287 +21,SPOON,SUM,0,0,0,0,0,5,0,10.8612658978 +21,,SUM,1,0,1,0,2,24,53,20.0066838264 +21,,,,,,,,,, +22,,,,,,,,,, +22,BOWL,SUM,0,0,0,0,8,22,0,12.7297110558 +22,CUP,SUM,0,0,0,0,32,6,21,29.9222960472 +22,SPOON,SUM,1,0,1,0,0,15,11,0 +22,,SUM,1,0,1,0,40,43,32,42.652007103 +22,,,,,,,,,, +23,,,,,,,,,, +23,BOWL,SUM,0,0,0,0,0,2,8,17.9260070324 +23,CUP,SUM,1,0,1,0,0,38,40,0 +23,SPOON,SUM,0,0,0,0,0,2,0,10.7280480862 +23,,SUM,1,0,1,0,0,42,48,28.6540551186 +23,,,,,,,,,, +24,,,,,,,,,, +24,BOWL,SUM,0,0,0,0,0,3,0,8.613795042 +24,CUP,SUM,0,0,0,0,0,1,9,9.6961321831 +24,SPOON,SUM,0,0,0,0,0,2,0,10.6809098721 +24,,SUM,0,0,0,0,0,6,9,28.9908370972 +24,,,,,,,,,, +25,,,,,,,,,, +25,BOWL,SUM,1,1,0,0,0,42,0,0 +25,CUP,SUM,1,0,1,0,0,19,60,0 +25,SPOON,SUM,0,0,0,0,0,5,17,26.0749690533 +25,,SUM,2,1,1,0,0,66,77,26.0749690533 +25,,,,,,,,,, +26,,,,,,,,,, +26,BOWL,SUM,0,0,0,0,0,6,12,13.8332350254 +26,CUP,SUM,0,0,0,0,0,6,14,10.3836598396 +26,SPOON,SUM,0,0,0,0,0,1,0,11.5986471176 +26,,SUM,0,0,0,0,0,13,26,35.8155419827 +26,,,,,,,,,, +27,,,,,,,,,, +27,BOWL,SUM,0,0,0,0,0,0,1,9.1369149685 +27,CUP,SUM,0,0,0,0,0,24,14,12.5124130249 +27,SPOON,SUM,1,0,1,0,0,341,0,0 +27,,SUM,1,0,1,0,0,365,15,21.6493279934 +27,,,,,,,,,, +28,,,,,,,,,, +28,BOWL,SUM,0,0,0,0,16,1,0,14.2331030369 +28,CUP,SUM,1,0,1,0,0,73,81,0 +28,SPOON,SUM,0,0,0,0,0,7,20,19.1855859756 +28,,SUM,1,0,1,0,16,81,101,33.4186890125 +28,,,,,,,,,, +29,,,,,,,,,, +29,BOWL,SUM,0,0,0,0,0,0,0,7.7040529251 +29,CUP,SUM,0,0,0,0,0,3,32,15.3843021393 +29,SPOON,SUM,1,0,1,0,0,20,44,0 +29,,SUM,1,0,1,0,0,23,76,23.0883550644 +29,,,,,,,,,, +30,,,,,,,,,, +30,BOWL,SUM,0,0,0,0,48,4,4,29.9289579391 +30,CUP,SUM,0,0,0,0,0,3,8,8.5302209854 +30,SPOON,SUM,1,0,1,0,8,57,10,0 +30,,SUM,1,0,1,0,56,64,22,38.4591789246 +30,,,,,,,,,, +31,,,,,,,,,, +31,BOWL,SUM,1,0,1,0,0,53,30,0 +31,CUP,SUM,0,0,0,0,0,8,9,9.8512098789 +31,SPOON,SUM,0,0,0,0,0,3,0,11.2837209702 +31,,SUM,1,0,1,0,0,64,39,21.1349308491 +31,,,,,,,,,, +32,,,,,,,,,, +32,BOWL,SUM,0,0,0,0,2,26,9,15.8571550846 +32,CUP,SUM,0,0,0,0,0,11,15,11.2879869938 +32,SPOON,SUM,0,0,0,0,2,0,0,11.4098339081 +32,,SUM,0,0,0,0,4,37,24,38.5549759865 +32,,,,,,,,,, +33,,,,,,,,,, +33,BOWL,SUM,0,0,0,0,0,5,1,9.4858760834 +33,CUP,SUM,0,0,0,0,8,6,9,14.161864996 +33,SPOON,SUM,0,0,0,0,16,28,10,29.0999810696 +33,,SUM,0,0,0,0,24,39,20,52.7477221489 +33,,,,,,,,,, +34,,,,,,,,,, +34,BOWL,SUM,0,0,0,0,0,2,16,14.5165309906 +34,CUP,SUM,1,0,1,0,10,24,125,0 +34,SPOON,SUM,0,0,0,0,16,5,4,19.2714159489 +34,,SUM,1,0,1,0,26,31,145,33.7879469395 +34,,,,,,,,,, +35,,,,,,,,,, +35,BOWL,SUM,0,0,0,0,0,3,0,8.1997702122 +35,CUP,SUM,0,0,0,0,0,11,8,8.203690052 +35,SPOON,SUM,0,0,0,0,0,0,0,11.3666920662 +35,,SUM,0,0,0,0,0,14,8,27.7701523304 +35,,,,,,,,,, +36,,,,,,,,,, +36,BOWL,SUM,0,0,0,0,0,14,1,11.3382301331 +36,CUP,SUM,1,0,1,0,0,4,38,0 +36,SPOON,SUM,0,0,0,0,0,0,0,10.2406609058 +36,,SUM,1,0,1,0,0,18,39,21.5788910389 +36,,,,,,,,,, +37,,,,,,,,,, +37,BOWL,SUM,1,0,1,0,8,10,41,0 +37,CUP,SUM,0,0,0,0,0,2,8,9.0133681297 +37,SPOON,SUM,0,0,0,0,0,2,8,15.4804620743 +37,,SUM,1,0,1,0,8,14,57,24.493830204 +37,,,,,,,,,, +38,,,,,,,,,, +38,BOWL,SUM,0,0,0,0,0,0,0,7.6489210129 +38,CUP,SUM,0,0,0,0,0,2,20,11.286206007 +38,SPOON,SUM,0,0,0,0,0,7,0,10.8063669205 +38,,SUM,0,0,0,0,0,9,20,29.7414939404 +38,,,,,,,,,, +39,,,,,,,,,, +39,BOWL,SUM,0,0,0,0,8,61,0,15.7717840672 +39,CUP,SUM,0,0,0,0,0,2,25,13.7106769085 +39,SPOON,SUM,0,0,0,0,16,11,0,19.0684878826 +39,,SUM,0,0,0,0,24,74,25,48.5509488583 +39,,,,,,,,,, +40,,,,,,,,,, +40,BOWL,SUM,0,0,0,0,0,4,9,12.2625281811 +40,CUP,SUM,0,0,0,0,0,8,10,9.947715044 +40,SPOON,SUM,0,0,0,0,0,4,8,11.8111031055 +40,,SUM,0,0,0,0,0,16,27,34.0213463306 +40,,,,,,,,,, +41,,,,,,,,,, +41,BOWL,SUM,0,0,0,0,8,2,0,12.0384340286 +41,CUP,SUM,0,0,0,0,0,5,8,9.573007822 +41,SPOON,SUM,1,0,1,0,2,120,8,0 +41,,SUM,1,0,1,0,10,127,16,21.6114418507 +41,,,,,,,,,, +42,,,,,,,,,, +42,BOWL,SUM,0,0,0,0,0,15,0,8.8791720867 +42,CUP,SUM,0,0,0,0,0,1,18,13.2037460804 +42,SPOON,SUM,0,0,0,0,0,1,0,10.9812421799 +42,,SUM,0,0,0,0,0,17,18,33.064160347 +42,,,,,,,,,, +43,,,,,,,,,, +43,BOWL,SUM,0,0,0,0,8,6,16,17.123814106 +43,CUP,SUM,0,0,0,0,0,8,29,20.8613641262 +43,SPOON,SUM,0,0,0,0,0,12,0,11.2136998177 +43,,SUM,0,0,0,0,8,26,45,49.1988780499 +43,,,,,,,,,, +44,,,,,,,,,, +44,BOWL,SUM,0,0,0,0,0,6,4,12.8930578232 +44,CUP,SUM,1,0,1,0,0,10,91,0 +44,SPOON,SUM,0,0,0,0,0,5,0,10.8758749962 +44,,SUM,1,0,1,0,0,21,95,23.7689328194 +44,,,,,,,,,, +45,,,,,,,,,, +45,BOWL,SUM,0,0,0,0,0,25,1,11.1726751328 +45,CUP,SUM,0,0,0,0,0,11,84,33.2223689556 +45,SPOON,SUM,1,1,0,0,0,72,0,0 +45,,SUM,1,1,0,0,0,108,85,44.3950440884 +45,,,,,,,,,, +46,,,,,,,,,, +46,BOWL,SUM,0,0,0,0,0,1,5,10.3954000473 +46,CUP,SUM,1,0,1,0,0,14,77,0 +46,SPOON,SUM,0,0,0,0,0,2,0,11.46935606 +46,,SUM,1,0,1,0,0,17,82,21.8647561073 +46,,,,,,,,,, +47,,,,,,,,,, +47,BOWL,SUM,1,1,0,0,0,42,0,0 +47,CUP,SUM,1,1,0,0,0,42,0,0 +47,SPOON,SUM,0,0,0,0,0,5,4,12.9049758911 +47,,SUM,2,2,0,0,0,89,4,12.9049758911 +47,,,,,,,,,, +48,,,,,,,,,, +48,BOWL,SUM,0,0,0,0,0,1,0,7.9808881283 +48,CUP,SUM,0,0,0,0,0,2,12,12.1390988827 +48,SPOON,SUM,0,0,0,0,0,11,0,11.8105919361 +48,,SUM,0,0,0,0,0,14,12,31.9305789471 +48,,,,,,,,,, +49,,,,,,,,,, +49,BOWL,SUM,0,0,0,0,0,10,0,8.1406919956 +49,CUP,SUM,0,0,0,0,2,9,8,10.4428071976 +49,SPOON,SUM,0,0,0,0,0,3,0,11.1029160023 +49,,SUM,0,0,0,0,2,22,8,29.6864151955 +49,,,,,,,,,, +50,,,,,,,,,, +50,BOWL,SUM,1,0,1,0,2,7,44,0 +50,CUP,SUM,1,0,1,0,0,4,61,0 +50,SPOON,SUM,0,0,0,0,8,1,2,14.6231129169 +50,,SUM,2,0,2,0,10,12,107,14.6231129169 +50,,,,,,,,,, +51,,,,,,,,,, +51,BOWL,SUM,0,0,0,0,0,3,0,9.517457962 +51,CUP,SUM,0,0,0,0,0,18,108,40.1570248604 +51,SPOON,SUM,0,0,0,0,0,2,0,11.0952630043 +51,,SUM,0,0,0,0,0,23,108,60.7697458267 +51,,,,,,,,,, +52,,,,,,,,,, +52,BOWL,SUM,0,0,0,0,2,2,1,9.1849300861 +52,CUP,SUM,0,0,0,0,2,4,12,8.7280049324 +52,SPOON,SUM,0,0,0,0,40,14,0,28.5264849663 +52,,SUM,0,0,0,0,44,20,13,46.4394199848 +52,,,,,,,,,, +53,,,,,,,,,, +53,BOWL,SUM,0,0,0,0,0,18,4,12.4301438332 +53,CUP,SUM,0,0,0,0,0,4,8,7.7957139015 +53,SPOON,SUM,1,1,0,0,0,72,0,0 +53,,SUM,1,1,0,0,0,94,12,20.2258577347 +53,,,,,,,,,, +54,,,,,,,,,, +54,BOWL,SUM,0,0,0,0,24,29,0,19.955477953 +54,CUP,SUM,1,0,0,1,0,20,53,0 +54,SPOON,SUM,1,0,1,0,0,26,44,0 +54,,SUM,2,0,1,1,24,75,97,19.955477953 +54,,,,,,,,,, +55,,,,,,,,,, +55,BOWL,SUM,0,0,0,0,0,2,0,8.2090289593 +55,CUP,SUM,0,0,0,0,0,5,9,10.2763059139 +55,SPOON,SUM,0,0,0,0,0,1,8,15.3454201221 +55,,SUM,0,0,0,0,0,8,17,33.8307549953 +55,,,,,,,,,, +56,,,,,,,,,, +56,BOWL,SUM,0,0,0,0,10,43,4,17.6249010563 +56,CUP,SUM,1,0,1,0,0,9,46,0 +56,SPOON,SUM,0,0,0,0,0,3,0,10.68334198 +56,,SUM,1,0,1,0,10,55,50,28.3082430363 +56,,,,,,,,,, +57,,,,,,,,,, +57,BOWL,SUM,0,0,0,0,4,5,0,9.7522201538 +57,CUP,SUM,0,0,0,0,0,0,8,7.8045890331 +57,SPOON,SUM,0,0,0,0,0,8,0,11.6346371174 +57,,SUM,0,0,0,0,4,13,8,29.1914463043 +57,,,,,,,,,, +58,,,,,,,,,, +58,BOWL,SUM,0,0,0,0,0,0,4,14.4267239571 +58,CUP,SUM,0,0,0,0,0,3,23,13.5170929432 +58,SPOON,SUM,1,0,1,0,0,53,10,0 +58,,SUM,1,0,1,0,0,56,37,27.9438169003 +58,,,,,,,,,, +59,,,,,,,,,, +59,BOWL,SUM,0,0,0,0,0,4,1,9.4996738434 +59,CUP,SUM,0,0,0,0,0,31,50,27.3361949921 +59,SPOON,SUM,0,0,0,0,8,9,0,14.4981529713 +59,,SUM,0,0,0,0,8,44,51,51.3340218067 +59,,,,,,,,,, +60,,,,,,,,,, +60,BOWL,SUM,0,0,0,0,0,7,7,11.9396460056 +60,CUP,SUM,0,0,0,0,8,29,49,35.7933499813 +60,SPOON,SUM,1,0,1,0,0,342,0,0 +60,,SUM,1,0,1,0,8,378,56,47.7329959869 +60,,,,,,,,,, +61,,,,,,,,,, +61,BOWL,SUM,0,0,0,0,0,2,1,9.1835758686 +61,CUP,SUM,1,0,1,0,8,18,165,0 +61,SPOON,SUM,0,0,0,0,8,2,1,14.9727959633 +61,,SUM,1,0,1,0,16,22,167,24.1563718319 +61,,,,,,,,,, +62,,,,,,,,,, +62,BOWL,SUM,0,0,0,0,0,0,0,8.4736099243 +62,CUP,SUM,1,0,1,0,10,12,132,0 +62,SPOON,SUM,0,0,0,0,8,1,0,15.6323661804 +62,,SUM,1,0,1,0,18,13,132,24.1059761047 +62,,,,,,,,,, +63,,,,,,,,,, +63,BOWL,SUM,1,0,1,0,0,6,44,0 +63,CUP,SUM,0,0,0,0,16,3,15,19.9689090252 +63,SPOON,SUM,0,0,0,0,0,4,12,16.4342830181 +63,,SUM,1,0,1,0,16,13,71,36.4031920433 +63,,,,,,,,,, +64,,,,,,,,,, +64,BOWL,SUM,1,0,1,0,0,9,38,0 +64,CUP,SUM,0,0,0,0,0,1,20,11.6264269352 +64,SPOON,SUM,0,0,0,0,0,1,0,11.3121669292 +64,,SUM,1,0,1,0,0,11,58,22.9385938644 +64,,,,,,,,,, +65,,,,,,,,,, +65,BOWL,SUM,1,0,0,1,0,9,39,0 +65,CUP,SUM,1,0,1,0,24,15,11,0 +65,SPOON,SUM,0,0,0,0,0,4,0,11.4336879253 +65,,SUM,2,0,1,1,24,28,50,11.4336879253 +65,,,,,,,,,, +66,,,,,,,,,, +66,BOWL,SUM,0,0,0,0,8,5,0,11.3199560642 +66,CUP,SUM,0,0,0,0,0,11,16,12.1162080765 +66,SPOON,SUM,1,0,1,0,16,342,0,0 +66,,SUM,1,0,1,0,24,358,16,23.4361641407 +66,,,,,,,,,, +67,,,,,,,,,, +67,BOWL,SUM,0,0,0,0,0,3,1,9.0403380394 +67,CUP,SUM,1,0,1,0,0,9,120,0 +67,SPOON,SUM,0,0,0,0,16,1,0,17.8474371433 +67,,SUM,1,0,1,0,16,13,121,26.8877751827 +67,,,,,,,,,, +68,,,,,,,,,, +68,BOWL,SUM,0,0,0,0,16,18,9,20.1750719547 +68,CUP,SUM,0,0,0,0,0,3,14,11.3902609348 +68,SPOON,SUM,0,0,0,0,0,10,6,13.7627129555 +68,,SUM,0,0,0,0,16,31,29,45.328045845 +68,,,,,,,,,, +69,,,,,,,,,, +69,BOWL,SUM,0,0,0,0,2,3,5,11.9049670696 +69,CUP,SUM,0,0,0,0,0,4,8,8.1408231258 +69,SPOON,SUM,0,0,0,0,0,0,0,10.791675806 +69,,SUM,0,0,0,0,2,7,13,30.8374660015 +69,,,,,,,,,, +70,,,,,,,,,, +70,BOWL,SUM,0,0,0,0,0,5,20,15.617194891 +70,CUP,SUM,1,0,1,0,8,311,12,0 +70,SPOON,SUM,1,1,0,0,0,42,0,0 +70,,SUM,2,1,1,0,8,358,32,15.617194891 +70,,,,,,,,,, +71,,,,,,,,,, +71,BOWL,SUM,0,0,0,0,0,4,0,8.889605999 +71,CUP,SUM,1,0,1,0,2,22,55,0 +71,SPOON,SUM,0,0,0,0,0,0,0,11.9026219845 +71,,SUM,1,0,1,0,2,26,55,20.7922279835 +71,,,,,,,,,, +72,,,,,,,,,, +72,BOWL,SUM,0,0,0,0,0,3,0,8.3523201942 +72,CUP,SUM,0,0,0,0,0,11,9,11.3410670757 +72,SPOON,SUM,1,0,1,0,0,14,11,0 +72,,SUM,1,0,1,0,0,28,20,19.69338727 +72,,,,,,,,,, +73,,,,,,,,,, +73,BOWL,SUM,0,0,0,0,0,1,0,8.1731960773 +73,CUP,SUM,0,0,0,0,0,5,57,23.8641250134 +73,SPOON,SUM,0,0,0,0,0,2,0,11.1556720734 +73,,SUM,0,0,0,0,0,8,57,43.1929931641 +73,,,,,,,,,, +74,,,,,,,,,, +74,BOWL,SUM,0,0,0,0,0,0,0,8.307060957 +74,CUP,SUM,1,1,0,0,0,42,0,0 +74,SPOON,SUM,0,0,0,0,0,12,0,13.5193171501 +74,,SUM,1,1,0,0,0,54,0,21.8263781071 +74,,,,,,,,,, +75,,,,,,,,,, +75,BOWL,SUM,1,0,1,0,2,49,10,0 +75,CUP,SUM,0,0,0,0,8,3,22,19.3627328873 +75,SPOON,SUM,0,0,0,0,0,3,0,11.9470798969 +75,,SUM,1,0,1,0,10,55,32,31.3098127842 +75,,,,,,,,,, +76,,,,,,,,,, +76,BOWL,SUM,0,0,0,0,0,1,0,7.545732975 +76,CUP,SUM,0,0,0,0,2,5,48,25.6370260715 +76,SPOON,SUM,1,0,1,0,0,29,14,0 +76,,SUM,1,0,1,0,2,35,62,33.1827590466 +76,,,,,,,,,, +77,,,,,,,,,, +77,BOWL,SUM,0,0,0,0,0,13,31,26.2335560322 +77,CUP,SUM,1,0,1,0,0,8,42,0 +77,SPOON,SUM,0,0,0,0,0,6,0,10.8221240044 +77,,SUM,1,0,1,0,0,27,73,37.0556800365 +77,,,,,,,,,, +78,,,,,,,,,, +78,BOWL,SUM,0,0,0,0,24,19,0,22.076818943 +78,CUP,SUM,1,0,1,0,0,20,99,0 +78,SPOON,SUM,0,0,0,0,8,5,0,16.2747468948 +78,,SUM,1,0,1,0,32,44,99,38.3515658379 +78,,,,,,,,,, +79,,,,,,,,,, +79,BOWL,SUM,1,0,1,0,0,69,9,0 +79,CUP,SUM,0,0,0,0,0,2,8,8.0221960545 +79,SPOON,SUM,0,0,0,0,8,5,5,18.5069761276 +79,,SUM,1,0,1,0,8,76,22,26.5291721821 +79,,,,,,,,,, +80,,,,,,,,,, +80,BOWL,SUM,0,0,0,0,4,3,8,14.3890018463 +80,CUP,SUM,1,1,0,0,0,42,0,0 +80,SPOON,SUM,1,1,0,0,0,72,0,0 +80,,SUM,2,2,0,0,4,117,8,14.3890018463 +80,,,,,,,,,, +81,,,,,,,,,, +81,BOWL,SUM,0,0,0,0,0,5,17,17.2387650013 +81,CUP,SUM,1,0,1,0,16,9,47,0 +81,SPOON,SUM,0,0,0,0,0,5,0,11.7413449287 +81,,SUM,1,0,1,0,16,19,64,28.98010993 +81,,,,,,,,,, +82,,,,,,,,,, +82,BOWL,SUM,0,0,0,0,0,6,21,17.9587540627 +82,CUP,SUM,0,0,0,0,0,3,9,10.4868311882 +82,SPOON,SUM,0,0,0,0,0,8,0,10.6558570862 +82,,SUM,0,0,0,0,0,17,30,39.101442337 +82,,,,,,,,,, +83,,,,,,,,,, +83,BOWL,SUM,1,0,1,0,0,46,11,0 +83,CUP,SUM,0,0,0,0,0,6,8,8.8584330082 +83,SPOON,SUM,0,0,0,0,8,2,0,14.8223791122 +83,,SUM,1,0,1,0,8,54,19,23.6808121204 +83,,,,,,,,,, +84,,,,,,,,,, +84,BOWL,SUM,0,0,0,0,8,1,4,16.7374031544 +84,CUP,SUM,0,0,0,0,8,6,14,15.8277690411 +84,SPOON,SUM,0,0,0,0,0,3,0,10.1969761848 +84,,SUM,0,0,0,0,16,10,18,42.7621483803 +84,,,,,,,,,, +85,,,,,,,,,, +85,BOWL,SUM,1,0,1,0,0,314,6,0 +85,CUP,SUM,1,1,0,0,0,42,0,0 +85,SPOON,SUM,0,0,0,0,0,2,0,12.738120079 +85,,SUM,2,1,1,0,0,358,6,12.738120079 +85,,,,,,,,,, +86,,,,,,,,,, +86,BOWL,SUM,1,1,0,0,0,42,0,0 +86,CUP,SUM,0,0,0,0,0,5,16,11.9750409126 +86,SPOON,SUM,0,0,0,0,24,4,0,23.8428771496 +86,,SUM,1,1,0,0,24,51,16,35.8179180622 +86,,,,,,,,,, +87,,,,,,,,,, +87,BOWL,SUM,0,0,0,0,0,29,12,15.8929898739 +87,CUP,SUM,0,0,0,0,24,9,32,33.3028659821 +87,SPOON,SUM,0,0,0,0,0,9,0,11.6347029209 +87,,SUM,0,0,0,0,24,47,44,60.8305587769 +87,,,,,,,,,, +88,,,,,,,,,, +88,BOWL,SUM,0,0,0,0,8,1,4,13.2198240757 +88,CUP,SUM,0,0,0,0,0,3,8,9.7535300255 +88,SPOON,SUM,0,0,0,0,8,9,20,22.9323379993 +88,,SUM,0,0,0,0,16,13,32,45.9056921005 +88,,,,,,,,,, +89,,,,,,,,,, +89,BOWL,SUM,0,0,0,0,8,18,8,28.5738799572 +89,CUP,SUM,0,0,0,0,0,7,10,10.3885629177 +89,SPOON,SUM,1,0,0,1,0,12,55,0 +89,,SUM,1,0,0,1,8,37,73,38.9624428749 +89,,,,,,,,,, +90,,,,,,,,,, +90,BOWL,SUM,1,0,1,0,32,45,30,0 +90,CUP,SUM,0,0,0,0,32,4,8,21.4391958714 +90,SPOON,SUM,0,0,0,0,2,3,0,12.1154930592 +90,,SUM,1,0,1,0,66,52,38,33.5546889305 +90,,,,,,,,,, +91,,,,,,,,,, +91,BOWL,SUM,0,0,0,0,0,4,16,16.1027719975 +91,CUP,SUM,0,0,0,0,0,3,8,8.0849909782 +91,SPOON,SUM,1,1,0,0,0,42,0,0 +91,,SUM,1,1,0,0,0,49,24,24.1877629757 +91,,,,,,,,,, +92,,,,,,,,,, +92,BOWL,SUM,0,0,0,0,0,5,0,9.307874918 +92,CUP,SUM,0,0,0,0,0,9,9,10.2494652271 +92,SPOON,SUM,1,1,0,0,96,20,0,0 +92,,SUM,1,1,0,0,96,34,9,19.5573401451 +92,,,,,,,,,, +93,,,,,,,,,, +93,BOWL,SUM,0,0,0,0,2,2,0,9.1924538612 +93,CUP,SUM,0,0,0,0,40,54,30,35.8064169884 +93,SPOON,SUM,0,0,0,0,8,8,0,18.4042019844 +93,,SUM,0,0,0,0,50,64,30,63.403072834 +93,,,,,,,,,, +94,,,,,,,,,, +94,BOWL,SUM,0,0,0,0,40,16,0,25.1938471794 +94,CUP,SUM,0,0,0,0,4,7,11,14.4121940136 +94,SPOON,SUM,1,0,1,0,0,361,0,0 +94,,SUM,1,0,1,0,44,384,11,39.606041193 +94,,,,,,,,,, +95,,,,,,,,,, +95,BOWL,SUM,0,0,0,0,24,1,0,18.373552084 +95,CUP,SUM,0,0,0,0,0,2,27,16.5521068573 +95,SPOON,SUM,0,0,0,0,0,3,0,11.6442029476 +95,,SUM,0,0,0,0,24,6,27,46.5698618889 +95,,,,,,,,,, +96,,,,,,,,,, +96,BOWL,SUM,1,0,1,0,0,22,38,0 +96,CUP,SUM,0,0,0,0,0,2,8,9.1134240627 +96,SPOON,SUM,0,0,0,0,0,2,0,11.5625269413 +96,,SUM,1,0,1,0,0,26,46,20.675951004 +96,,,,,,,,,, +97,,,,,,,,,, +97,BOWL,SUM,0,0,0,0,0,2,0,9.0327119827 +97,CUP,SUM,0,0,0,0,18,6,8,16.0756151676 +97,SPOON,SUM,0,0,0,0,0,2,0,11.3403460979 +97,,SUM,0,0,0,0,18,10,8,36.4486732483 +97,,,,,,,,,, +98,,,,,,,,,, +98,BOWL,SUM,0,0,0,0,0,0,0,7.7469608784 +98,CUP,SUM,1,0,1,0,8,13,79,0 +98,SPOON,SUM,0,0,0,0,0,0,0,10.4791748524 +98,,SUM,1,0,1,0,8,13,79,18.2261357307 +98,,,,,,,,,, +99,,,,,,,,,, +99,BOWL,SUM,0,0,0,0,0,20,16,20.2070548534 +99,CUP,SUM,0,0,0,0,0,3,8,8.6429131031 +99,SPOON,SUM,0,0,0,0,2,3,12,18.0320868492 +99,,SUM,0,0,0,0,2,26,36,46.8820548058 +99,,,,,,,,,, +100,,,,,,,,,, +100,BOWL,SUM,1,0,1,0,0,51,30,0 +100,CUP,SUM,0,0,0,0,0,9,59,28.5886909962 +100,SPOON,SUM,0,0,0,0,2,2,0,12.2631449699 +100,,SUM,1,0,1,0,2,62,89,40.8518359661 +100,,,,,,,,,, +101,,,,,,,,,, +101,BOWL,SUM,0,0,0,0,0,6,0,8.8281478882 +101,CUP,SUM,0,0,0,0,16,8,29,24.9434189796 +101,SPOON,SUM,0,0,0,0,8,8,1,17.1204330921 +101,,SUM,0,0,0,0,24,22,30,50.8919999599 +101,,,,,,,,,, +102,,,,,,,,,, +102,BOWL,SUM,1,0,1,0,0,12,44,0 +102,CUP,SUM,0,0,0,0,0,3,19,12.2765171528 +102,SPOON,SUM,0,0,0,0,0,3,0,11.5999081135 +102,,SUM,1,0,1,0,0,18,63,23.8764252663 +102,,,,,,,,,, +103,,,,,,,,,, +103,BOWL,SUM,1,0,1,0,0,9,44,0 +103,CUP,SUM,0,0,0,0,0,2,8,8.0685369968 +103,SPOON,SUM,0,0,0,0,0,1,0,11.3350570202 +103,,SUM,1,0,1,0,0,12,52,19.403594017 +103,,,,,,,,,, +104,,,,,,,,,, +104,BOWL,SUM,0,0,0,0,0,5,28,18.596875906 +104,CUP,SUM,0,0,0,0,16,5,9,16.3705711365 +104,SPOON,SUM,0,0,0,0,0,1,0,11.3912630081 +104,,SUM,0,0,0,0,16,11,37,46.3587100506 +104,,,,,,,,,, +105,,,,,,,,,, +105,BOWL,SUM,0,0,0,0,8,7,1,13.6029539108 +105,CUP,SUM,0,0,0,0,0,7,47,21.2515428066 +105,SPOON,SUM,0,0,0,0,16,4,0,19.3931949139 +105,,SUM,0,0,0,0,24,18,48,54.2476916313 +105,,,,,,,,,, +106,,,,,,,,,, +106,BOWL,SUM,0,0,0,0,0,1,0,8.7409307957 +106,CUP,SUM,0,0,0,0,0,7,21,15.7069048882 +106,SPOON,SUM,0,0,0,0,0,4,4,13.6534910202 +106,,SUM,0,0,0,0,0,12,25,38.101326704 +106,,,,,,,,,, +107,,,,,,,,,, +107,BOWL,SUM,0,0,0,0,0,2,1,9.7461419106 +107,CUP,SUM,1,0,0,1,0,11,19,0 +107,SPOON,SUM,0,0,0,0,0,24,9,17.9580130577 +107,,SUM,1,0,0,1,0,37,29,27.7041549683 +107,,,,,,,,,, +108,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,0,1,1,10.3801178932 +108,CUP,SUM,0,0,0,0,24,6,10,21.3853509426 +108,,,,,,,,,, +108,BOWL,SUM,0,0,0,0,4,10,0,10.7576980591 +108,CUP,SUM,0,0,0,0,8,14,59,30.788880825 +108,SPOON,SUM,0,0,0,0,0,1,0,10.881677866 +108,,SUM,0,0,0,0,12,25,59,52.4282567501 +108,,,,,,,,,, +109,,,,,,,,,, +109,BOWL,SUM,0,0,0,0,16,3,1,16.4841089249 +109,CUP,SUM,0,0,0,0,0,0,8,8.2346510887 +109,SPOON,SUM,1,1,0,0,40,12,0,0 +109,,SUM,1,1,0,0,56,15,9,24.7187600136 +109,,,,,,,,,, +110,,,,,,,,,, +110,BOWL,SUM,0,0,0,0,0,3,0,9.3827819824 +110,CUP,SUM,0,0,0,0,2,10,18,19.2549309731 +110,SPOON,SUM,0,0,0,0,8,5,0,16.1870911121 +110,,SUM,0,0,0,0,10,18,18,44.8248040676 +110,,,,,,,,,, +111,,,,,,,,,, +111,BOWL,SUM,1,1,0,0,48,9,0,0 +111,CUP,SUM,1,0,1,0,0,15,82,0 +111,SPOON,SUM,0,0,0,0,0,2,0,10.657889843 +111,,SUM,2,1,1,0,48,26,82,10.657889843 +111,,,,,,,,,, +112,,,,,,,,,, +112,BOWL,SUM,0,0,0,0,0,2,6,8.7813270092 +112,CUP,SUM,0,0,0,0,0,17,108,44.0257298946 +112,SPOON,SUM,0,0,0,0,0,1,0,11.0253348351 +112,,SUM,0,0,0,0,0,20,114,63.8323917389 +112,,,,,,,,,, +113,,,,,,,,,, +113,BOWL,SUM,0,0,0,0,16,1,0,16.831649065 +113,CUP,SUM,0,0,0,0,2,12,49,29.4508709908 +113,SPOON,SUM,0,0,0,0,0,1,0,10.8326590061 +113,,SUM,0,0,0,0,18,14,49,57.1151790619 +113,,,,,,,,,, +114,,,,,,,,,, +114,BOWL,SUM,0,0,0,0,0,10,1,10.4362258911 +114,CUP,SUM,0,0,0,0,10,4,8,13.4629919529 +114,SPOON,SUM,0,0,0,0,0,0,0,10.7700150013 +114,,SUM,0,0,0,0,10,14,9,34.6692328453 +114,,,,,,,,,, +115,,,,,,,,,, +115,BOWL,SUM,0,0,0,0,0,0,0,8.5033340454 +115,CUP,SUM,0,0,0,0,0,5,57,27.0560419559 +115,SPOON,SUM,1,0,1,0,12,341,0,0 +115,,SUM,1,0,1,0,12,346,57,35.5593760014 +115,,,,,,,,,, +116,,,,,,,,,, +116,BOWL,SUM,0,0,0,0,0,9,0,9.5714070797 +116,CUP,SUM,0,0,0,0,0,30,12,14.8506498337 +116,SPOON,SUM,0,0,0,0,2,6,12,17.9250040054 +116,,SUM,0,0,0,0,2,45,24,42.3470609188 +116,,,,,,,,,, +117,,,,,,,,,, +117,BOWL,SUM,0,0,0,0,0,3,2,8.4649291039 +117,CUP,SUM,0,0,0,0,0,7,15,13.3390471935 +117,SPOON,SUM,0,0,0,0,0,0,4,12.6347830296 +117,,SUM,0,0,0,0,0,10,21,34.4387593269 +117,,,,,,,,,, +118,,,,,,,,,, +118,BOWL,SUM,1,1,0,0,0,42,0,0 +118,CUP,SUM,0,0,0,0,0,2,8,9.0611100197 +118,SPOON,SUM,0,0,0,0,0,5,0,12.9496879578 +118,,SUM,1,1,0,0,0,49,8,22.0107979774 +118,,,,,,,,,, +119,,,,,,,,,, +119,BOWL,SUM,1,0,1,0,2,5,50,0 +119,CUP,SUM,0,0,0,0,0,4,9,9.1399791241 +119,SPOON,SUM,1,0,1,0,0,342,0,0 +119,,SUM,2,0,2,0,2,351,59,9.1399791241 +119,,,,,,,,,, +120,,,,,,,,,, +120,BOWL,SUM,0,0,0,0,0,2,1,9.1138739586 +120,CUP,SUM,0,0,0,0,8,7,20,16.5214138031 +120,SPOON,SUM,0,0,0,0,0,6,0,11.1972098351 +120,,SUM,0,0,0,0,8,15,21,36.8324975967 +120,,,,,,,,,, +121,,,,,,,,,, +121,BOWL,SUM,1,0,1,0,0,19,11,0 +121,CUP,SUM,0,0,0,0,0,6,8,9.2009871006 +121,SPOON,SUM,0,0,0,0,8,10,0,15.7024199963 +121,,SUM,1,0,1,0,8,35,19,24.9034070969 +121,,,,,,,,,, +122,,,,,,,,,, +122,BOWL,SUM,0,0,0,0,0,4,1,9.0722010136 +122,CUP,SUM,1,0,1,0,0,10,33,0 +122,SPOON,SUM,0,0,0,0,0,0,0,10.9185729027 +122,,SUM,1,0,1,0,0,14,34,19.9907739162 +122,,,,,,,,,, +123,,,,,,,,,, +123,BOWL,SUM,0,0,0,0,0,3,20,18.418582201 +123,CUP,SUM,0,0,0,0,0,9,48,23.9578020573 +123,SPOON,SUM,1,1,0,0,0,42,0,0 +123,,SUM,1,1,0,0,0,54,68,42.3763842583 +123,,,,,,,,,, +124,,,,,,,,,, +124,BOWL,SUM,1,0,1,0,0,18,44,0 +124,CUP,SUM,0,0,0,0,0,4,9,8.8620390892 +124,SPOON,SUM,0,0,0,0,8,5,0,15.1320450306 +124,,SUM,1,0,1,0,8,27,53,23.9940841198 +124,,,,,,,,,, +125,,,,,,,,,, +125,BOWL,SUM,0,0,0,0,0,3,6,11.5709300041 +125,CUP,SUM,0,0,0,0,16,6,20,20.8550000191 +125,SPOON,SUM,1,0,1,0,0,93,9,0 +125,,SUM,1,0,1,0,16,102,35,32.4259300232 +125,,,,,,,,,, +126,,,,,,,,,, +126,BOWL,SUM,0,0,0,0,0,8,0,9.8833200932 +126,CUP,SUM,0,0,0,0,0,11,87,43.4661738873 +126,SPOON,SUM,0,0,0,0,0,3,4,13.7089869976 +126,,SUM,0,0,0,0,0,22,91,67.058480978 +126,,,,,,,,,, +127,,,,,,,,,, +127,BOWL,SUM,1,0,1,0,0,41,44,0 +127,CUP,SUM,0,0,0,0,0,2,13,12.3954589367 +127,SPOON,SUM,0,0,0,0,0,2,0,11.9779598713 +127,,SUM,1,0,1,0,0,45,57,24.373418808 +127,,,,,,,,,, +128,,,,,,,,,, +128,BOWL,SUM,0,0,0,0,0,1,0,8.0316560268 +128,CUP,SUM,0,0,0,0,0,4,28,15.4799580574 +128,SPOON,SUM,1,0,1,0,8,342,0,0 +128,,SUM,1,0,1,0,8,347,28,23.5116140842 +128,,,,,,,,,, +129,,,,,,,,,, +129,BOWL,SUM,0,0,0,0,2,2,0,9.8502550125 +129,CUP,SUM,0,0,0,0,0,8,34,20.0191850662 +129,SPOON,SUM,0,0,0,0,0,3,0,10.942964077 +129,,SUM,0,0,0,0,2,13,34,40.8124041557 +129,,,,,,,,,, +130,,,,,,,,,, +130,BOWL,SUM,0,0,0,0,0,6,1,10.0340189934 +130,CUP,SUM,0,0,0,0,0,5,9,10.0756111145 +130,SPOON,SUM,0,0,0,0,0,2,0,11.1657710075 +130,,SUM,0,0,0,0,0,13,10,31.2754011154 +130,,,,,,,,,, +131,,,,,,,,,, +131,BOWL,SUM,0,0,0,0,2,3,0,15.1406280994 +131,CUP,SUM,1,0,1,0,0,13,101,0 +131,SPOON,SUM,0,0,0,0,16,7,12,24.9761459827 +131,,SUM,1,0,1,0,18,23,113,40.1167740822 +131,,,,,,,,,, +132,,,,,,,,,, +132,BOWL,SUM,1,0,1,0,0,310,6,0 +132,CUP,SUM,0,0,0,0,0,18,38,20.8264279366 +132,SPOON,SUM,1,1,0,0,0,42,0,0 +132,,SUM,2,1,1,0,0,370,44,20.8264279366 +132,,,,,,,,,, +133,,,,,,,,,, +133,BOWL,SUM,1,0,1,0,0,212,20,0 +133,CUP,SUM,0,0,0,0,8,7,8,12.9781098366 +133,SPOON,SUM,0,0,0,0,0,7,10,16.2347621918 +133,,SUM,1,0,1,0,8,226,38,29.2128720284 +133,,,,,,,,,, +134,,,,,,,,,, +134,BOWL,SUM,1,0,1,0,0,8,38,0 +134,CUP,SUM,0,0,0,0,0,2,8,8.2135541439 +134,SPOON,SUM,0,0,0,0,0,2,0,11.0819818974 +134,,SUM,1,0,1,0,0,12,46,19.2955360413 +134,,,,,,,,,, +135,,,,,,,,,, +135,BOWL,SUM,0,0,0,0,0,4,8,12.0925822258 +135,CUP,SUM,0,0,0,0,0,9,94,36.1058969498 +135,SPOON,SUM,0,0,0,0,8,8,8,21.1426010132 +135,,SUM,0,0,0,0,8,21,110,69.3410801888 +135,,,,,,,,,, +136,,,,,,,,,, +136,BOWL,SUM,1,0,0,1,8,7,19,0 +136,CUP,SUM,0,0,0,0,32,24,9,26.795814991 +136,SPOON,SUM,0,0,0,0,0,18,19,33.696449995 +136,,SUM,1,0,0,1,40,49,47,60.492264986 +136,,,,,,,,,, +137,,,,,,,,,, +137,BOWL,SUM,0,0,0,0,0,1,0,9.9491641521 +137,CUP,SUM,0,0,0,0,0,3,8,7.7106821537 +137,SPOON,SUM,1,0,1,0,8,19,11,0 +137,,SUM,1,0,1,0,8,23,19,17.6598463058 +137,,,,,,,,,, +138,,,,,,,,,, +138,BOWL,SUM,0,0,0,0,0,3,0,9.0378501415 +138,CUP,SUM,0,0,0,0,2,10,8,10.4377419949 +138,SPOON,SUM,0,0,0,0,8,4,0,16.6773099899 +138,,SUM,0,0,0,0,10,17,8,36.1529021263 +138,,,,,,,,,, +139,,,,,,,,,, +139,BOWL,SUM,0,0,0,0,0,4,0,9.5939559937 +139,CUP,SUM,0,0,0,0,0,2,40,20.5960559845 +139,SPOON,SUM,0,0,0,0,0,3,0,11.9254970551 +139,,SUM,0,0,0,0,0,9,40,42.1155090332 +139,,,,,,,,,, +140,,,,,,,,,, +140,BOWL,SUM,1,0,1,0,0,342,0,0 +140,CUP,SUM,0,0,0,0,0,3,8,9.4786419868 +140,SPOON,SUM,0,0,0,0,0,0,0,12.455739975 +140,,SUM,1,0,1,0,0,345,8,21.9343819618 +140,,,,,,,,,, +141,,,,,,,,,, +141,BOWL,SUM,0,0,0,0,8,11,0,17.7361288071 +141,CUP,SUM,0,0,0,0,8,5,8,12.6336388588 +141,SPOON,SUM,0,0,0,0,0,10,0,12.7326850891 +141,,SUM,0,0,0,0,16,26,8,43.102452755 +141,,,,,,,,,, +142,,,,,,,,,, +142,BOWL,SUM,1,0,1,0,2,36,10,0 +142,CUP,SUM,0,0,0,0,0,3,65,26.8453950882 +142,SPOON,SUM,0,0,0,0,0,1,0,11.6833760738 +142,,SUM,1,0,1,0,2,40,75,38.528771162 +142,,,,,,,,,, +143,,,,,,,,,, +143,BOWL,SUM,0,0,0,0,0,4,0,9.954406023 +143,CUP,SUM,1,0,0,1,0,13,19,0 +143,SPOON,SUM,1,0,1,0,0,341,0,0 +143,,SUM,2,0,1,1,0,358,19,9.954406023 +143,,,,,,,,,, +144,,,,,,,,,, +144,BOWL,SUM,0,0,0,0,0,2,10,13.8585529327 +144,CUP,SUM,0,0,0,0,0,14,69,29.1017830372 +144,SPOON,SUM,0,0,0,0,0,0,0,10.9305579662 +144,,SUM,0,0,0,0,0,16,79,53.8908939362 +144,,,,,,,,,, +145,,,,,,,,,, +145,BOWL,SUM,0,0,0,0,0,7,0,9.9729058743 +145,CUP,SUM,1,0,1,0,0,11,88,0 +145,SPOON,SUM,0,0,0,0,8,4,0,15.4520478249 +145,,SUM,1,0,1,0,8,22,88,25.4249536991 +145,,,,,,,,,, +146,,,,,,,,,, +146,BOWL,SUM,1,0,1,0,2,312,4,0 +146,CUP,SUM,1,0,0,1,0,10,29,0 +146,SPOON,SUM,0,0,0,0,0,3,0,11.6363310814 +146,,SUM,2,0,1,1,2,325,33,11.6363310814 +146,,,,,,,,,, +147,,,,,,,,,, +147,BOWL,SUM,0,0,0,0,0,0,0,8.9174051285 +147,CUP,SUM,0,0,0,0,0,21,129,45.5053060055 +147,SPOON,SUM,0,0,0,0,0,1,0,11.7565159798 +147,,SUM,0,0,0,0,0,22,129,66.1792271137 +147,,,,,,,,,, +148,,,,,,,,,, +148,BOWL,SUM,0,0,0,0,0,3,0,8.7557418346 +148,CUP,SUM,0,0,0,0,8,4,23,23.3109471798 +148,SPOON,SUM,1,0,1,0,0,246,5,0 +148,,SUM,1,0,1,0,8,253,28,32.0666890144 +148,,,,,,,,,, +149,,,,,,,,,, +149,BOWL,SUM,0,0,0,0,0,1,1,9.2679650784 +149,CUP,SUM,0,0,0,0,16,5,8,16.1122260094 +149,SPOON,SUM,1,1,0,0,0,42,0,0 +149,,SUM,1,1,0,0,16,48,9,25.3801910877 +149,,,,,,,,,, +150,,,,,,,,,, +150,BOWL,SUM,0,0,0,0,0,5,0,8.4575488567 +150,CUP,SUM,0,0,0,0,0,3,8,7.8124678135 +150,SPOON,SUM,1,0,1,0,8,53,40,0 +150,,SUM,1,0,1,0,8,61,48,16.2700166702 +150,,,,,,,,,, +151,,,,,,,,,, +151,BOWL,SUM,1,0,1,0,0,12,11,0 +151,CUP,SUM,1,0,1,0,0,13,39,0 +151,SPOON,SUM,0,0,0,0,0,5,0,11.354501009 +151,,SUM,2,0,2,0,0,30,50,11.354501009 +151,,,,,,,,,, +152,,,,,,,,,, +152,BOWL,SUM,1,1,0,0,0,43,0,0 +152,CUP,SUM,1,1,0,0,0,42,0,0 +152,SPOON,SUM,0,0,0,0,24,5,2,23.744063139 +152,,SUM,2,2,0,0,24,90,2,23.744063139 +152,,,,,,,,,, +153,,,,,,,,,, +153,BOWL,SUM,0,0,0,0,0,6,1,9.4277830124 +153,CUP,SUM,1,0,1,0,0,15,33,0 +153,SPOON,SUM,0,0,0,0,24,2,0,21.9531230927 +153,,SUM,1,0,1,0,24,23,34,31.380906105 +153,,,,,,,,,, +154,,,,,,,,,, +154,BOWL,SUM,1,0,1,0,0,38,40,0 +154,CUP,SUM,0,0,0,0,0,2,8,7.8469769955 +154,SPOON,SUM,0,0,0,0,0,0,0,11.0993199348 +154,,SUM,1,0,1,0,0,40,48,18.9462969303 +154,,,,,,,,,, +155,,,,,,,,,, +155,BOWL,SUM,1,0,1,0,8,17,11,0 +155,CUP,SUM,0,0,0,0,0,8,8,8.7488908768 +155,SPOON,SUM,0,0,0,0,8,26,7,27.9686660767 +155,,SUM,1,0,1,0,16,51,26,36.7175569534 +155,,,,,,,,,, +156,,,,,,,,,, +156,BOWL,SUM,0,0,0,0,0,6,17,14.7358009815 +156,CUP,SUM,0,0,0,0,0,5,8,8.2655608654 +156,SPOON,SUM,0,0,0,0,22,5,0,23.0830249786 +156,,SUM,0,0,0,0,22,16,25,46.0843868256 +156,,,,,,,,,, +157,,,,,,,,,, +157,BOWL,SUM,0,0,0,0,0,2,1,11.0366919041 +157,CUP,SUM,0,0,0,0,0,5,8,8.8306121826 +157,SPOON,SUM,0,0,0,0,0,1,11,16.6490578651 +157,,SUM,0,0,0,0,0,8,20,36.5163619518 +157,,,,,,,,,, +158,,,,,,,,,, +158,BOWL,SUM,0,0,0,0,0,2,0,8.6347930431 +158,CUP,SUM,1,0,1,0,0,9,82,0 +158,SPOON,SUM,0,0,0,0,8,0,4,16.6217780113 +158,,SUM,1,0,1,0,8,11,86,25.2565710545 +158,,,,,,,,,, +159,,,,,,,,,, +159,BOWL,SUM,0,0,0,0,0,39,0,12.9550199509 +159,CUP,SUM,1,0,1,0,0,30,78,0 +159,SPOON,SUM,0,0,0,0,24,7,0,21.7975959778 +159,,SUM,1,0,1,0,24,76,78,34.7526159286 +159,,,,,,,,,, +160,,,,,,,,,, +160,BOWL,SUM,0,0,0,0,0,2,0,8.6811981201 +160,CUP,SUM,0,0,0,0,0,13,19,14.9480919838 +160,SPOON,SUM,0,0,0,0,0,5,0,11.6102280617 +160,,SUM,0,0,0,0,0,20,19,35.2395181656 +160,,,,,,,,,, +161,,,,,,,,,, +161,BOWL,SUM,0,0,0,0,8,16,1,14.205275774 +161,CUP,SUM,1,0,1,0,0,32,55,0 +161,SPOON,SUM,0,0,0,0,0,4,0,11.4811360836 +161,,SUM,1,0,1,0,8,52,56,25.6864118576 +161,,,,,,,,,, +162,,,,,,,,,, +162,BOWL,SUM,0,0,0,0,0,3,0,8.6149880886 +162,CUP,SUM,0,0,0,0,0,18,24,17.0443739891 +162,SPOON,SUM,0,0,0,0,16,2,0,18.350383997 +162,,SUM,0,0,0,0,16,23,24,44.0097460747 +162,,,,,,,,,, +163,,,,,,,,,, +163,BOWL,SUM,0,0,0,0,0,1,5,10.0289349556 +163,CUP,SUM,0,0,0,0,0,6,15,12.0761761665 +163,SPOON,SUM,1,1,0,0,0,42,0,0 +163,,SUM,1,1,0,0,0,49,20,22.1051111221 +163,,,,,,,,,, +164,,,,,,,,,, +164,BOWL,SUM,0,0,0,0,0,4,35,24.4752209187 +164,CUP,SUM,0,0,0,0,0,6,17,11.9829611778 +164,SPOON,SUM,0,0,0,0,0,0,0,10.9920251369 +164,,SUM,0,0,0,0,0,10,52,47.4502072334 +164,,,,,,,,,, +165,,,,,,,,,, +165,BOWL,SUM,0,0,0,0,0,1,7,14.0200760365 +165,CUP,SUM,1,0,1,0,0,12,44,0 +165,SPOON,SUM,0,0,0,0,0,3,6,13.6580021381 +165,,SUM,1,0,1,0,0,16,57,27.6780781746 +165,,,,,,,,,, +166,,,,,,,,,, +166,BOWL,SUM,0,0,0,0,8,35,13,21.7541248798 +166,CUP,SUM,0,0,0,0,8,3,28,20.1614391804 +166,SPOON,SUM,1,0,1,0,0,12,23,0 +166,,SUM,1,0,1,0,16,50,64,41.9155640602 +166,,,,,,,,,, +167,,,,,,,,,, +167,BOWL,SUM,0,0,0,0,12,9,6,23.2574300766 +167,CUP,SUM,1,0,0,1,0,17,25,0 +167,SPOON,SUM,0,0,0,0,0,2,0,11.5566151142 +167,,SUM,1,0,0,1,12,28,31,34.8140451908 +167,,,,,,,,,, +168,,,,,,,,,, +168,BOWL,SUM,0,0,0,0,0,5,8,11.9835910797 +168,CUP,SUM,0,0,0,0,2,30,96,42.4896190166 +168,SPOON,SUM,1,0,0,1,0,6,17,0 +168,,SUM,1,0,0,1,2,41,121,54.4732100964 +168,,,,,,,,,, +169,,,,,,,,,, +169,BOWL,SUM,0,0,0,0,8,3,1,14.0096969604 +169,CUP,SUM,1,0,1,0,34,18,90,0 +169,SPOON,SUM,0,0,0,0,0,0,0,11.0295181274 +169,,SUM,1,0,1,0,42,21,91,25.0392150879 +169,,,,,,,,,, +170,,,,,,,,,, +170,BOWL,SUM,1,0,1,0,8,314,4,0 +170,CUP,SUM,0,0,0,0,0,4,69,29.6658730507 +170,SPOON,SUM,0,0,0,0,2,4,4,15.3396978378 +170,,SUM,1,0,1,0,10,322,77,45.0055708885 +170,,,,,,,,,, +171,,,,,,,,,, +171,BOWL,SUM,0,0,0,0,0,2,24,20.7709648609 +171,CUP,SUM,0,0,0,0,0,4,8,8.7038669586 +171,SPOON,SUM,0,0,0,0,24,3,4,23.8422141075 +171,,SUM,0,0,0,0,24,9,36,53.317045927 +171,,,,,,,,,, +172,,,,,,,,,, +172,BOWL,SUM,0,0,0,0,0,1,0,8.9295430183 +172,CUP,SUM,0,0,0,0,0,4,33,18.9539880753 +172,SPOON,SUM,1,0,1,0,0,341,0,0 +172,,SUM,1,0,1,0,0,346,33,27.8835310936 +172,,,,,,,,,, +173,,,,,,,,,, +173,BOWL,SUM,0,0,0,0,0,5,1,9.3530399799 +173,CUP,SUM,0,0,0,0,0,4,16,16.4590559006 +173,SPOON,SUM,1,0,1,0,16,160,6,0 +173,,SUM,1,0,1,0,16,169,23,25.8120958805 +173,,,,,,,,,, +174,,,,,,,,,, +174,BOWL,SUM,0,0,0,0,32,3,0,25.162209034 +174,CUP,SUM,0,0,0,0,0,11,13,12.3132190704 +174,SPOON,SUM,1,0,1,0,8,32,44,0 +174,,SUM,1,0,1,0,40,46,57,37.4754281044 +174,,,,,,,,,, +175,,,,,,,,,, +175,BOWL,SUM,1,0,1,0,8,17,26,0 +175,CUP,SUM,0,0,0,0,0,4,9,9.0225539207 +175,SPOON,SUM,0,0,0,0,0,1,0,11.7374610901 +175,,SUM,1,0,1,0,8,22,35,20.7600150108 +175,,,,,,,,,, +176,,,,,,,,,, +176,BOWL,SUM,0,0,0,0,0,2,0,8.6301648617 +176,CUP,SUM,0,0,0,0,0,2,23,13.4372601509 +176,SPOON,SUM,0,0,0,0,0,3,0,11.3744459152 +176,,SUM,0,0,0,0,0,7,23,33.4418709278 +176,,,,,,,,,, +177,,,,,,,,,, +177,BOWL,SUM,0,0,0,0,0,1,0,9.6303358078 +177,CUP,SUM,0,0,0,0,4,1,18,13.4696350098 +177,SPOON,SUM,0,0,0,0,32,13,0,24.945982933 +177,,SUM,0,0,0,0,36,15,18,48.0459537506 +177,,,,,,,,,, +178,,,,,,,,,, +178,BOWL,SUM,0,0,0,0,0,8,34,22.274171114 +178,CUP,SUM,0,0,0,0,8,31,8,14.3191080093 +178,SPOON,SUM,0,0,0,0,0,1,0,11.0167181492 +178,,SUM,0,0,0,0,8,40,42,47.6099972725 +178,,,,,,,,,, +179,,,,,,,,,, +179,BOWL,SUM,0,0,0,0,0,0,0,8.9029471874 +179,CUP,SUM,1,0,1,0,0,10,11,0 +179,SPOON,SUM,0,0,0,0,0,1,0,11.6876502037 +179,,SUM,1,0,1,0,0,11,11,20.5905973911 +179,,,,,,,,,, +180,,,,,,,,,, +180,BOWL,SUM,0,0,0,0,16,4,13,20.5839710236 +180,CUP,SUM,1,0,1,0,0,189,90,0 +180,SPOON,SUM,0,0,0,0,0,3,4,12.9913170338 +180,,SUM,1,0,1,0,16,196,107,33.5752880573 +180,,,,,,,,,, +181,,,,,,,,,, +181,BOWL,SUM,0,0,0,0,0,2,4,14.7504971027 +181,CUP,SUM,0,0,0,0,0,1,8,7.8154909611 +181,SPOON,SUM,0,0,0,0,8,2,4,16.3284499645 +181,,SUM,0,0,0,0,8,5,16,38.8944380283 +181,,,,,,,,,, +182,,,,,,,,,, +182,BOWL,SUM,0,0,0,0,0,2,1,10.2859611511 +182,CUP,SUM,0,0,0,0,0,1,8,7.9186599255 +182,SPOON,SUM,0,0,0,0,0,12,6,16.406744957 +182,,SUM,0,0,0,0,0,15,15,34.6113660336 +182,,,,,,,,,, +183,,,,,,,,,, +183,BOWL,SUM,0,0,0,0,4,26,16,18.0001749992 +183,CUP,SUM,0,0,0,0,2,3,8,9.6655068398 +183,SPOON,SUM,0,0,0,0,8,4,0,15.3916289806 +183,,SUM,0,0,0,0,14,33,24,43.0573108196 +183,,,,,,,,,, +184,,,,,,,,,, +184,BOWL,SUM,1,0,1,0,0,20,34,0 +184,CUP,SUM,1,0,1,0,0,4,71,0 +184,SPOON,SUM,0,0,0,0,0,3,0,12.0019099712 +184,,SUM,2,0,2,0,0,27,105,12.0019099712 +184,,,,,,,,,, +185,,,,,,,,,, +185,BOWL,SUM,1,1,0,0,0,42,0,0 +185,CUP,SUM,0,0,0,0,0,18,8,10.152641058 +185,SPOON,SUM,0,0,0,0,24,12,0,21.2039091587 +185,,SUM,1,1,0,0,24,72,8,31.3565502167 +185,,,,,,,,,, +186,,,,,,,,,, +186,BOWL,SUM,0,0,0,0,0,9,12,14.8376431465 +186,CUP,SUM,0,0,0,0,0,3,17,13.4184381962 +186,SPOON,SUM,0,0,0,0,0,0,0,11.7017118931 +186,,SUM,0,0,0,0,0,12,29,39.9577932358 +186,,,,,,,,,, +187,,,,,,,,,, +187,BOWL,SUM,0,0,0,0,0,0,0,9.7001399994 +187,CUP,SUM,0,0,0,0,16,4,9,17.4645328522 +187,SPOON,SUM,0,0,0,0,2,3,0,12.2501251698 +187,,SUM,0,0,0,0,18,7,9,39.4147980213 +187,,,,,,,,,, +188,,,,,,,,,, +188,BOWL,SUM,1,1,0,0,0,72,0,0 +188,CUP,SUM,0,0,0,0,24,111,8,27.7974998951 +188,SPOON,SUM,0,0,0,0,0,22,20,20.8323979378 +188,,SUM,1,1,0,0,24,205,28,48.6298978329 +188,,,,,,,,,, +189,,,,,,,,,, +189,BOWL,SUM,0,0,0,0,0,3,0,8.5945119858 +189,CUP,SUM,0,0,0,0,24,3,8,18.4282598495 +189,SPOON,SUM,0,0,0,0,0,1,8,15.73686409 +189,,SUM,0,0,0,0,24,7,16,42.7596359253 +189,,,,,,,,,, +190,,,,,,,,,, +190,BOWL,SUM,0,0,0,0,2,0,0,10.1482059956 +190,CUP,SUM,0,0,0,0,24,4,18,22.8122620583 +190,SPOON,SUM,0,0,0,0,8,2,4,16.3566961288 +190,,SUM,0,0,0,0,34,6,22,49.3171641827 +190,,,,,,,,,, +191,,,,,,,,,, +191,BOWL,SUM,0,0,0,0,0,3,0,10.7414991856 +191,CUP,SUM,0,0,0,0,0,2,9,9.4464211464 +191,SPOON,SUM,0,0,0,0,0,7,0,11.0649299622 +191,,SUM,0,0,0,0,0,12,9,31.2528502941 +191,,,,,,,,,, +192,,,,,,,,,, +192,BOWL,SUM,0,0,0,0,0,1,0,7.8895831108 +192,CUP,SUM,0,0,0,0,0,6,44,28.6548631191 +192,SPOON,SUM,0,0,0,0,8,0,0,14.8078248501 +192,,SUM,0,0,0,0,8,7,44,51.35227108 +192,,,,,,,,,, +193,,,,,,,,,, +193,BOWL,SUM,0,0,0,0,2,3,9,16.1422801018 +193,CUP,SUM,0,0,0,0,24,7,8,19.4897119999 +193,SPOON,SUM,0,0,0,0,8,8,8,17.3715538979 +193,,SUM,0,0,0,0,34,18,25,53.0035459995 +193,,,,,,,,,, +194,,,,,,,,,, +194,BOWL,SUM,0,0,0,0,8,3,0,11.8641891479 +194,CUP,SUM,0,0,0,0,8,1,12,15.9840319157 +194,SPOON,SUM,0,0,0,0,0,4,0,11.1842370033 +194,,SUM,0,0,0,0,16,8,12,39.0324580669 +194,,,,,,,,,, +195,,,,,,,,,, +195,BOWL,SUM,0,0,0,0,0,36,35,25.696696043 +195,CUP,SUM,0,0,0,0,0,7,49,23.7543320656 +195,SPOON,SUM,0,0,0,0,0,1,0,11.3550732136 +195,,SUM,0,0,0,0,0,44,84,60.8061013222 +195,,,,,,,,,, +196,,,,,,,,,, +196,BOWL,SUM,0,0,0,0,8,7,29,24.3789548874 +196,CUP,SUM,0,0,0,0,0,5,12,11.5825619698 +196,SPOON,SUM,0,0,0,0,24,3,7,24.6045107841 +196,,SUM,0,0,0,0,32,15,48,60.5660276413 +196,,,,,,,,,, +197,,,,,,,,,, +197,BOWL,SUM,1,0,1,0,8,7,26,0 +197,CUP,SUM,0,0,0,0,0,6,10,10.5314278603 +197,SPOON,SUM,0,0,0,0,16,1,0,17.8695468903 +197,,SUM,1,0,1,0,24,14,36,28.4009747505 +197,,,,,,,,,, +198,,,,,,,,,, +198,BOWL,SUM,0,0,0,0,0,1,0,8.0187740326 +198,CUP,SUM,0,0,0,0,0,3,16,13.2952549458 +198,SPOON,SUM,0,0,0,0,0,22,2,14.4820871353 +198,,SUM,0,0,0,0,0,26,18,35.7961161137 +198,,,,,,,,,, +199,,,,,,,,,, +199,BOWL,SUM,0,0,0,0,8,9,34,27.9556062222 +199,CUP,SUM,1,0,0,1,0,11,31,0 +199,SPOON,SUM,0,0,0,0,0,19,1,14.6248419285 +199,,SUM,1,0,0,1,8,39,66,42.5804481506 +199,,,,,,,,,, From dd086728e9ae64b28179296dfa35d5d34bd15f3b Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Mon, 9 Dec 2019 20:39:28 +0100 Subject: [PATCH 21/38] [kvr] added query for getting obj-pose with bowl and camera pose --- cram_knowrob/cram_knowrob_vr/src/queries.lisp | 46 +++++++++++++++++++ 1 file changed, 46 insertions(+) diff --git a/cram_knowrob/cram_knowrob_vr/src/queries.lisp b/cram_knowrob/cram_knowrob_vr/src/queries.lisp index 26206ce6ea..c37a3014e3 100644 --- a/cram_knowrob/cram_knowrob_vr/src/queries.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/queries.lisp @@ -480,7 +480,53 @@ and the transform surface-T-camera as a lazy list of pairs: :package :kvr))) +(defun query-obj-and-camera-pose-depending-on-bowl (obj-type) + (cut:lazy-mapcar + (lambda (binding-set) + (let* ((cam-pose (cram-tf:flat-list->transform + (cut:var-value '|?CameraPose| binding-set))) + + (bowl-pose (cram-tf:flat-list->transform + (cut:var-value '|?BowlPose| binding-set))) + + (obj-pose (cram-tf:flat-list->transform + (cut:var-value '|?ObjPose| binding-set)))) + (list (cons 'camera cam-pose) + (cons 'bowl bowl-pose) + (cons 'object obj-pose)))) + + (json-prolog:prolog-simple + (concatenate 'string + "ep_inst(EpInst), + obj_type(ObjInst, knowrob:'" obj-type "'), + u_occurs(EpInst, EventInst, Start, End), + obj_type(EventInst, knowrob:'GraspingSomething'), + rdf_has(EventInst, knowrob:'objectActedOn', ObjInst), + rdf_has(ObjInst, knowrob:'describedInMap', MapInst), + iri_xml_namespace(ObjInst, _, ObjShortName), + rdf_has(CameraInst, rdf:type, knowrob:'CharacterCamera'), + rdf_has(CameraInst, knowrob:'describedInMap', MapInst), + iri_xml_namespace(CameraInst, _, CameraShortName), + obj_type(BowlInst, knowrob:'IkeaBowl'), + rdf_has(BowlInst, knowrob:'describedInMap', MapInst), + rdf_has(TouchingEventInst, knowrob_u:'inContact', ObjInst), + rdf_has(TouchingEventInst, knowrob_u:'inContact', Surface), + u_occurs(EpInst, TouchingEventInst, TouchStart, TouchEnd), + not(ObjInst==Surface), + obj_type(Surface, SurfaceType), + owl_subclass_of(SurfaceType, knowrob:'IslandArea'), + iri_xml_namespace(BowlInst, _, BowlShortName), + actor_pose(EpInst, ObjShortName, End, ObjPose), + actor_pose(EpInst, CameraShortName, End, CameraPose), + actor_pose(EpInst, BowlShortName, TouchStart, BowlPose), + actor_pose(EpInst, BowlShortName, End, BowlPose).") + :package :kvr))) + + + + + #+this-is-not-used (defun query-table-location (object-type) (car From a9e74bc781aad33c362751cc038f2a512baca42a Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Tue, 10 Dec 2019 00:19:22 +0100 Subject: [PATCH 22/38] [kvr] minor --- .../cram_knowrob_vr/src/debugging-utils.lisp | 18 ++++++++++++++++++ cram_knowrob/cram_knowrob_vr/src/init.lisp | 10 +++++++--- 2 files changed, 25 insertions(+), 3 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp index 6b4a0b2a21..3cec77b288 100644 --- a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp @@ -303,3 +303,21 @@ pose-stamped-list))) ;; deliver base poses (spawn-arrows (base-poses-ll-for-placing type) 'del )) + + +(defun test-relative-position--query (poses) + (btr-utils:kill-all-objects) + (spawn-unreal-arrow (cl-tf:transform->pose + (cdr (assoc 'camera poses))) + (format nil "ur-camera-~a" (arrow-prefix)) + '(1 1 0)) + + (spawn-unreal-arrow (cl-tf:transform->pose + (cdr (assoc 'bowl poses))) + (format nil "ur-bowl-~a" (arrow-prefix)) + '(1 0 0)) + + (spawn-unreal-arrow (cl-tf:transform->pose + (cdr (assoc 'object poses))) + (format nil "ur-object-~a" (arrow-prefix)) + '(0 0 1))) diff --git a/cram_knowrob/cram_knowrob_vr/src/init.lisp b/cram_knowrob/cram_knowrob_vr/src/init.lisp index fe6fc75088..699cc8e9f3 100644 --- a/cram_knowrob/cram_knowrob_vr/src/init.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/init.lisp @@ -178,9 +178,13 @@ objects for debugging." '( "original1" "original2" "original3" "original4" "original5" "original6" "original7" "original8" "original9" "original10" - ;; "exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" - ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" - ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" + "original11" "original12" "original13" "original14" "original15" + "original16" "original17" "original18" "original19" "original20" + "original21" "original22" "original23" "original24" "original25" + "original26" "original27" + ;; "exp1_t_1" "exp1_t_2" "exp1_t_3" "exp1_t_4" "exp1_t_5" + ;; "exp1_tc_1" "exp1_tc_2" "exp1_tc_3" "exp1_tc_4" "exp1_tc_5" + ;; "exp1_tr_1" "exp1_tr_2" "exp1_tr_3" "exp1_tr_4" "exp1_tr_5" ))) ;; (spawn-semantic-map) ;; (spawn-semantic-items) From 398a1447657de39dbe78e1ef8bb7bbd6d3a6b540 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Tue, 10 Dec 2019 01:59:11 +0100 Subject: [PATCH 23/38] [kvr] relative object placement --- .../cram_knowrob_vr/src/debugging-utils.lisp | 7 +- .../src/fetch-and-deliver-based-demo.lisp | 45 ++++---- cram_knowrob/cram_knowrob_vr/src/queries.lisp | 39 ++++--- .../src/query-based-calculations.lisp | 104 +++++++++++++++++- 4 files changed, 150 insertions(+), 45 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp index 3cec77b288..dfe653d687 100644 --- a/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/debugging-utils.lisp @@ -158,6 +158,8 @@ Returns: list of cl-tf:pose." (mapcar (lambda (pose-stamped) (cl-tf:pose-stamped->pose pose-stamped)) temp-list))) + ;; if already pose, don't do anything + (cl-transforms:pose (setf poses-list temp-list)) (t (print "invalid type"))) ;; return poses list poses-list)) @@ -272,8 +274,7 @@ Returns: list of cl-tf:pose." `desig-color' can be set to 'vis or 'reach depending on which list it is. 'vis arrows = dark green 'reach arrows = dark blue" - (let ((poses-list (convert-into-poses-list (cut:force-ll -pose-stamped-list))) + (let ((poses-list (convert-into-poses-list (cut:force-ll pose-stamped-list))) (color (cond ((eq desig-color 'vis) '(1.0 0.6 0.0)) ((eq desig-color 'reach) @@ -299,7 +300,7 @@ pose-stamped-list))) (object-type-filter-bullet type) obj-pose) 'reach) ;; target poses on table (spawn-arrows - (object-poses-ll-for-placing (object-type-filter-prolog type)) 'reach) + (object-poses-ll-for-placing type (cl-transforms:pose->transform obj-pose)) 'del) ;; deliver base poses (spawn-arrows (base-poses-ll-for-placing type) 'del )) diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index 6d46283c6c..c9041ee333 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -480,23 +480,27 @@ (alexandria:shuffle '(:left :right) ;; (cut:force-ll (arms-for-fetching-ll type)) )) + (bowl-pose + (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr (assoc 'bowl + (if (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|KITCHEN.sink_area|)))) + 1.0) + *object-delivering-poses-varied-kitchen* + *object-delivering-poses*)))))) + (bowl-transform + (cram-tf:pose-stamped->transform-stamped bowl-pose "bowl")) (?delivering-poses - (list (cl-transforms-stamped:pose->pose-stamped - cram-tf:*fixed-frame* 0.0 - (cram-tf:list->pose - (cdr (assoc type - (if (> (cl-transforms:y - (cl-transforms:origin - (btr:pose - (btr:rigid-body - (btr:get-environment-object) - :|KITCHEN.sink_area|)))) - 1.0) - *object-delivering-poses-varied-kitchen* - *object-delivering-poses*)))))) - ;; (alexandria:shuffle - ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO - )) + (case ?bullet-type + (:bowl (list bowl-pose)) + (t (alexandria:shuffle + (cut:force-ll (object-poses-ll-for-placing type bowl-transform))))))) (exe:perform (desig:an action @@ -509,8 +513,8 @@ (let ((?bullet-type (object-type-filter-bullet type)) - (?arms - (alexandria:shuffle '(:left :right))) + ;; (?arms + ;; (alexandria:shuffle '(:left :right))) (?delivering-poses (list (cl-transforms-stamped:pose->pose-stamped cram-tf:*fixed-frame* 0.0 @@ -524,10 +528,7 @@ :|KITCHEN.sink_area|)))) 1.0) *object-delivering-poses-varied-kitchen* - *object-delivering-poses*)))))) - ;; (alexandria:shuffle - ;; (cut:force-ll (object-poses-ll-for-placing type))) ;; TODO - )) + *object-delivering-poses*)))))))) (exe:perform (desig:an action diff --git a/cram_knowrob/cram_knowrob_vr/src/queries.lisp b/cram_knowrob/cram_knowrob_vr/src/queries.lisp index c37a3014e3..88e5347842 100644 --- a/cram_knowrob/cram_knowrob_vr/src/queries.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/queries.lisp @@ -480,25 +480,27 @@ and the transform surface-T-camera as a lazy list of pairs: :package :kvr))) -(defun query-obj-and-camera-pose-depending-on-bowl (obj-type) +(defun query-obj-and-camera-pose-depending-on-bowl (object-type) (cut:lazy-mapcar (lambda (binding-set) - (let* ((cam-pose (cram-tf:flat-list->transform - (cut:var-value '|?CameraPose| binding-set))) - - (bowl-pose (cram-tf:flat-list->transform - (cut:var-value '|?BowlPose| binding-set))) - - (obj-pose (cram-tf:flat-list->transform - (cut:var-value '|?ObjPose| binding-set)))) - (list (cons 'camera cam-pose) - (cons 'bowl bowl-pose) - (cons 'object obj-pose)))) - + (let ((map-T-camera + (cram-tf:flat-list->transform + (cut:var-value '|?CameraPose| binding-set))) + (map-T-bowl + (cram-tf:flat-list->transform + (cut:var-value '|?BowlPose| binding-set))) + (map-T-object + (cram-tf:flat-list->transform + (cut:var-value '|?ObjPose| binding-set))) + (surface-name + (cut:var-value '|?SurfaceTypeShortName| binding-set))) + (list map-T-camera map-T-bowl map-T-object surface-name))) + (json-prolog:prolog-simple - (concatenate 'string - "ep_inst(EpInst), - obj_type(ObjInst, knowrob:'" obj-type "'), + (concatenate + 'string + "ep_inst(EpInst), + obj_type(ObjInst, knowrob:'" object-type "'), u_occurs(EpInst, EventInst, Start, End), obj_type(EventInst, knowrob:'GraspingSomething'), rdf_has(EventInst, knowrob:'objectActedOn', ObjInst), @@ -514,19 +516,20 @@ and the transform surface-T-camera as a lazy list of pairs: u_occurs(EpInst, TouchingEventInst, TouchStart, TouchEnd), not(ObjInst==Surface), obj_type(Surface, SurfaceType), + iri_xml_namespace(SurfaceType, _, SurfaceTypeShortName), owl_subclass_of(SurfaceType, knowrob:'IslandArea'), iri_xml_namespace(BowlInst, _, BowlShortName), actor_pose(EpInst, ObjShortName, End, ObjPose), actor_pose(EpInst, CameraShortName, End, CameraPose), actor_pose(EpInst, BowlShortName, TouchStart, BowlPose), actor_pose(EpInst, BowlShortName, End, BowlPose).") - :package :kvr))) + :package :kvr))) + - #+this-is-not-used (defun query-table-location (object-type) (car diff --git a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp index 01bb81d0ed..f19cb0dac6 100644 --- a/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/query-based-calculations.lisp @@ -339,6 +339,104 @@ Formula: umap-T-ucamera = umap-T-uobj * inv(smap-T-sobj) * smap-T-scamera (umap-T-ucamera-through-object-ll-based-on-object-pose type time umap-P-uobj))) +(defun umap-P-object-through-other-object-ll (type umap-T-uother-object) + "Calculates the pose for an object to be placed at a surface, +relative to another object (in our case bowl) and the human actor. +Formula: + part 1 + umap-T-uobject = umap-T'-ubowl * ubowl-T'-uobject = + [umap-R-urobot | umap-t-ubowl] * [I | sbowl-t'-sobject], + part 2 + where sbowl-t'-sobject = translation(inv(smap-T'-sbowl) * smap-T'-sobject) = + translation(inv([smap-R-scamera-projected | smap-t-sbowl]) * + [smap-R-scamera-projected | smap-t-sobject])) + part 3 + and umap-R-urobot = rotation(umap-T-usurface * usurface-T-urobot), + where usurface-T-urobot = [usurface-R-urobot | 0 0 0 ], + where usurface-R-urobot = axis-angle->quaternion + axis = (0 0 1) + angle = (ecase closest-edge + (:front 0) + (:back pi) + (:left -pi/2) + (:right pi/2))" + ;; part 2 + (let ((camera-bowl-object-transforms-ll + (query-obj-and-camera-pose-depending-on-bowl + (object-type-filter-prolog type)))) + (cut:lazy-mapcar + (lambda (camera-bowl-object-transforms) + (destructuring-bind (smap-T-scamera smap-T-sbowl smap-T-sobject ssurface-name) + camera-bowl-object-transforms + (let* ((smap-T-scamera-projected + (map-T-camera->map-P-base smap-T-scamera)) + (smap-R-scamera-projected + (cl-transforms:orientation smap-T-scamera-projected)) + (smap-tt-sobject + (cl-transforms:translation smap-T-sobject)) + (smap-T-prime-sobject + (cl-transforms:make-transform + smap-tt-sobject smap-R-scamera-projected)) + (smap-tt-sbowl + (cl-transforms:translation smap-T-sbowl)) + (smap-T-prime-sbowl + (cl-transforms:make-transform + smap-tt-sbowl smap-R-scamera-projected)) + (sbowl-T-prime-sobject + (cl-transforms:transform* + (cl-transforms:transform-inv smap-T-prime-sbowl) + smap-T-prime-sobject)) + (sbowl-tt-prime-sobject + (cl-transforms:translation sbowl-T-prime-sobject))) + ;; part 3 + (let* ((umap-T-ubowl + umap-T-uother-object) + (usurface-obj + (btr:rigid-body + (btr:get-environment-object) + (match-kitchens ssurface-name))) + (umap-T-usurface + (cl-transforms:pose->transform + (btr:pose usurface-obj))) + (usurface-dimensions + (btr:calculate-bb-dims usurface-obj)) + (uclosest-edge-and-distance + (get-closest-edge-and-distance + umap-T-ubowl umap-T-usurface usurface-dimensions)) + (closest-edge + (first uclosest-edge-and-distance)) + (usurface-R-urobot + (cl-transforms:axis-angle->quaternion + (cl-transforms:make-3d-vector 0 0 1) + (ecase closest-edge + (:front 0) + (:back pi) + (:left (/ pi -2)) + (:right (/ pi 2))))) + (usurface-T-urobot + (cl-transforms:make-transform + (cl-transforms:make-identity-vector) + usurface-R-urobot)) + (umap-T-urobot + (cl-transforms:transform* umap-T-usurface usurface-T-urobot)) + (umap-R-urobot + (cl-transforms:rotation umap-T-urobot))) + ;; part 1 + (let* ((umap-tt-ubowl + (cl-transforms:translation umap-T-ubowl)) + (umap-T-prime-ubowl + (cl-transforms:make-transform + umap-tt-ubowl umap-R-urobot)) + (ubowl-T-prime-uobject + (cl-transforms:make-transform + sbowl-tt-prime-sobject (cl-transforms:make-identity-rotation))) + (umap-T-uobject + (cl-transforms:transform* umap-T-prime-ubowl ubowl-T-prime-uobject))) + (cl-transforms:transform->pose umap-T-uobject)))))) + camera-bowl-object-transforms-ll))) + + + (defun base-poses-ll-for-searching (type) (let ((umap-T-ucamera-ll @@ -391,8 +489,10 @@ Formula: umap-T-ucamera = umap-T-uobj * inv(smap-T-sobj) * smap-T-scamera -(defun object-poses-ll-for-placing (type) - (umap-P-uobj-through-surface-ll type "End") +(defun object-poses-ll-for-placing (type umap-T-uother-object) + (print umap-T-uother-object) + (umap-P-object-through-other-object-ll type umap-T-uother-object) + ;; (umap-P-uobj-through-surface-ll type "End") ;; (umap-P-uobj-through-surface-edge-ll type "End") ) From 0697ef3704f82e6fdd68666f6e426c94de1085ab Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Tue, 10 Dec 2019 02:12:53 +0100 Subject: [PATCH 24/38] Turning off relative obj placement for now + don't crash on unknown grasp --- .../src/fetch-and-deliver-based-demo.lisp | 26 ++++++++++++++++--- 1 file changed, 23 insertions(+), 3 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp index c9041ee333..56f4543e57 100644 --- a/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/fetch-and-deliver-based-demo.lisp @@ -475,7 +475,12 @@ (cut:force-ll (look-poses-ll-for-searching type)))) (?grasps (alexandria:shuffle - (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)))) + (ecase ?bullet-type + (:bowl '(:top)) + (:cup '(::RIGHT-SIDE :FRONT :LEFT-SIDE :TOP :BACK)) + (:spoon '(:top))) + ;; (cut:force-ll (object-grasped-faces-ll-from-kvr-type type)) + )) (?arms (alexandria:shuffle '(:left :right) ;; (cut:force-ll (arms-for-fetching-ll type)) @@ -499,8 +504,23 @@ (?delivering-poses (case ?bullet-type (:bowl (list bowl-pose)) - (t (alexandria:shuffle - (cut:force-ll (object-poses-ll-for-placing type bowl-transform))))))) + (t + (list (cl-transforms-stamped:pose->pose-stamped + cram-tf:*fixed-frame* 0.0 + (cram-tf:list->pose + (cdr (assoc type + (if (> (cl-transforms:y + (cl-transforms:origin + (btr:pose + (btr:rigid-body + (btr:get-environment-object) + :|KITCHEN.sink_area|)))) + 1.0) + *object-delivering-poses-varied-kitchen* + *object-delivering-poses*)))))) + ;; (alexandria:shuffle + ;; (cut:force-ll (object-poses-ll-for-placing type bowl-transform))) + )))) (exe:perform (desig:an action From 12b179a34e6d859d52ccd5fff917236734dc514c Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Tue, 10 Dec 2019 19:25:03 +0100 Subject: [PATCH 25/38] [kvr] heur pr2 real experiments --- .../experiments/heur_pr2_real.csv | 63 +++++++++++++++++++ 1 file changed, 63 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv new file mode 100644 index 0000000000..4b8c8a4b11 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,1,0,1,0,0,2,58,0.0 +0,CUP,SUM,0,0,0,0,0,2,15,305.6091411113739 +0,SPOON,SUM,0,0,0,0,0,6,4,258.29537200927734 +0,,SUM,1,0,1,0,0,10,77,563.9045131206512 +0,, +1,, +1,BOWL,SUM,1,0,1,0,0,6,50,0.0 +1,CUP,SUM,0,0,0,0,0,4,6,222.936420917511 +1,SPOON,SUM,1,0,1,0,16,7,50,0.0 +1,,SUM,2,0,2,0,16,17,106,222.936420917511 +1,, +2,, +2,BOWL,SUM,1,0,1,0,12,2,42,0.0 +2,CUP,SUM,0,0,0,0,0,3,7,239.9484419822693 +2,SPOON,SUM,0,0,0,0,0,5,9,310.33405900001526 +2,,SUM,1,0,1,0,12,10,58,550.2825009822845 +2,, +3,, +3,BOWL,SUM,1,0,1,0,8,2,28,0.0 +3,CUP,SUM,1,0,0,1,16,9,25,0.0 +3,SPOON,SUM,0,0,0,0,0,4,8,280.21044301986694 +3,,SUM,2,0,1,1,24,15,61,280.21044301986694 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,2,6,275.40415501594543 +4,CUP,SUM,0,0,0,0,8,7,16,431.9404010772705 +4,SPOON,SUM,0,0,0,0,12,7,27,621.2050490379333 +4,,SUM,0,0,0,0,20,16,49,1328.5496051311493 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,8,26,500.3748300075531 +5,CUP,SUM,1,0,0,1,0,9,46,0.0 +5,SPOON,SUM,0,0,0,0,0,9,24,466.552197933197 +5,,SUM,1,0,0,1,0,26,96,966.9270279407501 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,2,10,307.84107089042664 +6,CUP,SUM,0,0,0,0,8,2,8,407.00923204421997 +6,SPOON,SUM,0,0,0,0,8,5,12,434.7830140590668 +6,,SUM,0,0,0,0,16,9,30,1149.6333169937134 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,3,32,550.1138641834259 +7,CUP,SUM,0,0,0,0,0,6,5,262.24054193496704 +7,SPOON,SUM,0,0,0,0,0,6,32,524.2022149562836 +7,,SUM,0,0,0,0,0,15,69,1336.5566210746765 +7,, +8,, +8,BOWL,SUM,0,0,0,0,8,3,10,393.38162183761597 +8,CUP,SUM,0,0,0,0,0,6,13,326.8962790966034 +8,SPOON,SUM,0,0,0,0,0,8,6,300.76371002197266 +8,,SUM,0,0,0,0,8,17,29,1021.041610956192 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,3,8,311.02044105529785 +9,CUP,SUM,0,0,0,0,8,9,24,502.80390095710754 +9,SPOON,SUM,0,0,0,0,6,2,10,359.3475329875946 +9,,SUM,0,0,0,0,14,14,42,1173.171875 +9,, From acae75a0772fbe90111907887c32563a592f4efe Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Tue, 10 Dec 2019 20:15:00 +0100 Subject: [PATCH 26/38] [kvr] shuffling visibility and reachability poses --- .../src/designator-integration.lisp | 30 +++++++++++-------- 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/cram_knowrob/cram_knowrob_vr/src/designator-integration.lisp b/cram_knowrob/cram_knowrob_vr/src/designator-integration.lisp index 6b881cb927..f37472ab7c 100644 --- a/cram_knowrob/cram_knowrob_vr/src/designator-integration.lisp +++ b/cram_knowrob/cram_knowrob_vr/src/designator-integration.lisp @@ -45,12 +45,14 @@ ;; VISIBILITY ((rob-int:visibility-designator-p location-designator) ;; based on location of obj - (base-poses-ll-for-fetching-based-on-object-pose - (object-type-filter-bullet obj-type-raw) ; obj-type - (desig:reference - (desig:desig-prop-value - ;;current search loc. - (desig:current-desig location-designator) :location)))) + (alexandria:shuffle + (cut:force-ll + (base-poses-ll-for-fetching-based-on-object-pose + (object-type-filter-bullet obj-type-raw) ; obj-type + (desig:reference + (desig:desig-prop-value + ;;current search loc. + (desig:current-desig location-designator) :location)))))) ;; REACHABILITY ((rob-int:reachability-designator-p location-designator) @@ -64,9 +66,11 @@ (desig:current-desig (desig:desig-prop-value (desig:current-desig location-designator) :object)))) - (base-poses-ll-for-fetching-based-on-object-desig - (desig:desig-prop-value - (desig:current-desig location-designator) :object))) + (alexandria:shuffle + (cut:force-ll + (base-poses-ll-for-fetching-based-on-object-desig + (desig:desig-prop-value + (desig:current-desig location-designator) :object))))) ;; location-desig -> deliver ((desig:desig-prop-value @@ -74,9 +78,11 @@ (let ((pose (desig:reference (desig:desig-prop-value (desig:current-desig location-designator) :location)))) - (base-poses-ll-for-fetching-based-on-object-pose - (object-type-filter-bullet obj-type-raw) - pose))))))) + (alexandria:shuffle + (cut:force-ll + (base-poses-ll-for-fetching-based-on-object-pose + (object-type-filter-bullet obj-type-raw) + pose))))))))) (desig:resolve-location-designator-through-generators-and-validators location-designator)) (desig:resolve-location-designator-through-generators-and-validators location-designator))) From 95d3f154cbe23e47f66623e0796c5410f5e04190 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Tue, 10 Dec 2019 22:01:20 +0100 Subject: [PATCH 27/38] [fd-plans] fixed a horrible bug with not reresolving designators --- .../src/fetch-and-deliver-plans.lisp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp index 0e77f1ab66..3256fd04e5 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp +++ b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp @@ -198,11 +198,12 @@ retries with different search location or robot base location." "Search is about to give up. Retrying~%")))) ;; if the going action fails, pick another `?robot-location' sample and retry - (cpl:with-retry-counters ((robot-location-retries 2)) + (cpl:with-retry-counters ((robot-location-retries 4)) (cpl:with-failure-handling (((or common-fail:navigation-goal-in-collision common-fail:looking-high-level-failure common-fail:perception-low-level-failure) (e) + (setf ?robot-location (desig:copy-designator ?robot-location)) (common-fail:retry-with-loc-designator-solutions ?robot-location robot-location-retries @@ -277,13 +278,14 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." :description "Some designator could not be resolved."))) ;; take a new `?pick-up-robot-location' sample if a failure happens - (cpl:with-retry-counters ((relocation-for-ik-retries 10)) + (cpl:with-retry-counters ((relocation-for-ik-retries 50)) (cpl:with-failure-handling (((or common-fail:navigation-goal-in-collision common-fail:looking-high-level-failure common-fail:perception-low-level-failure common-fail:object-unreachable common-fail:manipulation-low-level-failure) (e) + (setf ?pick-up-robot-location (desig:copy-designator ?pick-up-robot-location)) (common-fail:retry-with-loc-designator-solutions ?pick-up-robot-location relocation-for-ik-retries @@ -434,6 +436,7 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (((or common-fail:navigation-goal-in-collision common-fail:object-undeliverable common-fail:manipulation-low-level-failure) (e) + (setf ?target-robot-location (desig:copy-designator ?target-robot-location)) (common-fail:retry-with-loc-designator-solutions ?target-robot-location relocation-for-ik-retries From e1ea52449ed93d7f7d177e2d37cebc60abe30686 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Tue, 10 Dec 2019 17:20:16 +0100 Subject: [PATCH 28/38] [kvr exp] adding kvr experiment data --- .../experiments/kvr_boxy_new_orig.csv | 310 ++++++++ .../experiments/kvr_boxy_orig_orig.csv | 603 ++++++++++++++++ .../kvr_boxy_orig_orig_50retry.csv | 344 +++++++++ .../kvr_pr2_orig_orig_10_retry.csv | 63 ++ .../kvr_pr2_orig_orig_failed_a_lot.csv | 660 ++++++++++++++++++ .../experiments/kvr_pr2_orig_orig_retry20.csv | 388 ++++++++++ ...vr_pr2_orig_orig_retry30_grasping_hack.csv | 364 ++++++++++ .../experiments/kvr_pr2_orig_var_50retry.csv | 362 ++++++++++ 8 files changed, 3094 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv new file mode 100644 index 0000000000..e2da6aa23d --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv @@ -0,0 +1,310 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,1,1,0,0,0,259,0,0.0 +0,CUP,SUM,1,1,0,0,0,259,0,0.0 +0,SPOON,SUM,1,1,0,0,0,259,0,0.0 +0,,SUM,3,3,0,0,0,777,0,0.0 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,259,0,0.0 +1,CUP,SUM,1,1,0,0,0,259,0,0.0 +1,SPOON,SUM,1,1,0,0,0,259,0,0.0 +1,,SUM,3,3,0,0,0,777,0,0.0 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,259,0,0.0 +2,CUP,SUM,1,1,0,0,0,259,0,0.0 +2,SPOON,SUM,1,1,0,0,0,259,0,0.0 +2,,SUM,3,3,0,0,0,777,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,259,0,0.0 +3,CUP,SUM,1,1,0,0,0,259,0,0.0 +3,SPOON,SUM,1,1,0,0,0,259,0,0.0 +3,,SUM,3,3,0,0,0,777,0,0.0 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,259,0,0.0 +4,CUP,SUM,1,1,0,0,0,259,0,0.0 +4,SPOON,SUM,1,1,0,0,0,259,0,0.0 +4,,SUM,3,3,0,0,0,777,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,259,0,0.0 +5,CUP,SUM,1,1,0,0,0,259,0,0.0 +5,SPOON,SUM,1,1,0,0,0,259,0,0.0 +5,,SUM,3,3,0,0,0,777,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,259,0,0.0 +6,CUP,SUM,1,1,0,0,0,259,0,0.0 +6,SPOON,SUM,1,1,0,0,0,259,0,0.0 +6,,SUM,3,3,0,0,0,777,0,0.0 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,259,0,0.0 +7,CUP,SUM,1,1,0,0,0,259,0,0.0 +7,SPOON,SUM,1,1,0,0,0,259,0,0.0 +7,,SUM,3,3,0,0,0,777,0,0.0 +7,, +8,, +8,BOWL,SUM,1,1,0,0,0,259,0,0.0 +8,CUP,SUM,1,1,0,0,0,259,0,0.0 +8,SPOON,SUM,1,1,0,0,0,259,0,0.0 +8,,SUM,3,3,0,0,0,777,0,0.0 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,259,0,0.0 +9,CUP,SUM,1,1,0,0,0,259,0,0.0 +9,SPOON,SUM,1,1,0,0,0,259,0,0.0 +9,,SUM,3,3,0,0,0,777,0,0.0 +9,, +10,, +10,BOWL,SUM,1,1,0,0,0,259,0,0.0 +10,CUP,SUM,1,1,0,0,0,259,0,0.0 +10,SPOON,SUM,1,1,0,0,0,259,0,0.0 +10,,SUM,3,3,0,0,0,777,0,0.0 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,259,0,0.0 +11,CUP,SUM,1,1,0,0,0,259,0,0.0 +11,SPOON,SUM,1,1,0,0,0,259,0,0.0 +11,,SUM,3,3,0,0,0,777,0,0.0 +11,, +12,, +12,BOWL,SUM,1,1,0,0,0,259,0,0.0 +12,CUP,SUM,1,1,0,0,0,259,0,0.0 +12,SPOON,SUM,1,1,0,0,0,259,0,0.0 +12,,SUM,3,3,0,0,0,777,0,0.0 +12,, +13,, +13,BOWL,SUM,1,1,0,0,0,259,0,0.0 +13,CUP,SUM,1,1,0,0,0,259,0,0.0 +13,SPOON,SUM,1,1,0,0,0,259,0,0.0 +13,,SUM,3,3,0,0,0,777,0,0.0 +13,, +14,, +14,BOWL,SUM,1,1,0,0,0,259,0,0.0 +14,CUP,SUM,1,1,0,0,0,259,0,0.0 +14,SPOON,SUM,1,1,0,0,0,259,0,0.0 +14,,SUM,3,3,0,0,0,777,0,0.0 +14,, +15,, +15,BOWL,SUM,1,1,0,0,0,259,0,0.0 +15,CUP,SUM,1,1,0,0,0,259,0,0.0 +15,SPOON,SUM,1,1,0,0,0,259,0,0.0 +15,,SUM,3,3,0,0,0,777,0,0.0 +15,, +16,, +16,BOWL,SUM,1,1,0,0,0,259,0,0.0 +16,CUP,SUM,1,1,0,0,0,259,0,0.0 +16,SPOON,SUM,1,1,0,0,0,259,0,0.0 +16,,SUM,3,3,0,0,0,777,0,0.0 +16,, +17,, +17,BOWL,SUM,1,1,0,0,0,259,0,0.0 +17,CUP,SUM,1,1,0,0,0,259,0,0.0 +17,SPOON,SUM,1,1,0,0,0,259,0,0.0 +17,,SUM,3,3,0,0,0,777,0,0.0 +17,, +18,, +18,BOWL,SUM,1,1,0,0,0,259,0,0.0 +18,CUP,SUM,1,1,0,0,0,259,0,0.0 +18,SPOON,SUM,1,1,0,0,0,259,0,0.0 +18,,SUM,3,3,0,0,0,777,0,0.0 +18,, +19,, +19,BOWL,SUM,1,1,0,0,0,259,0,0.0 +19,CUP,SUM,1,1,0,0,0,259,0,0.0 +19,SPOON,SUM,1,1,0,0,0,259,0,0.0 +19,,SUM,3,3,0,0,0,777,0,0.0 +19,, +20,, +20,BOWL,SUM,1,1,0,0,0,259,0,0.0 +20,CUP,SUM,1,1,0,0,0,259,0,0.0 +20,SPOON,SUM,1,1,0,0,0,259,0,0.0 +20,,SUM,3,3,0,0,0,777,0,0.0 +20,, +21,, +21,BOWL,SUM,1,1,0,0,0,259,0,0.0 +21,CUP,SUM,1,1,0,0,0,259,0,0.0 +21,SPOON,SUM,1,1,0,0,0,259,0,0.0 +21,,SUM,3,3,0,0,0,777,0,0.0 +21,, +22,, +22,BOWL,SUM,1,1,0,0,0,259,0,0.0 +22,CUP,SUM,1,1,0,0,0,259,0,0.0 +22,SPOON,SUM,1,1,0,0,0,259,0,0.0 +22,,SUM,3,3,0,0,0,777,0,0.0 +22,, +23,, +23,BOWL,SUM,1,1,0,0,0,259,0,0.0 +23,CUP,SUM,1,1,0,0,0,259,0,0.0 +23,SPOON,SUM,1,1,0,0,0,259,0,0.0 +23,,SUM,3,3,0,0,0,777,0,0.0 +23,, +24,, +24,BOWL,SUM,1,1,0,0,0,259,0,0.0 +24,CUP,SUM,1,1,0,0,0,259,0,0.0 +24,SPOON,SUM,1,1,0,0,0,259,0,0.0 +24,,SUM,3,3,0,0,0,777,0,0.0 +24,, +25,, +25,BOWL,SUM,1,1,0,0,0,259,0,0.0 +25,CUP,SUM,1,1,0,0,0,259,0,0.0 +25,SPOON,SUM,1,1,0,0,0,259,0,0.0 +25,,SUM,3,3,0,0,0,777,0,0.0 +25,, +26,, +26,BOWL,SUM,1,1,0,0,0,259,0,0.0 +26,CUP,SUM,1,1,0,0,0,259,0,0.0 +26,SPOON,SUM,1,1,0,0,0,259,0,0.0 +26,,SUM,3,3,0,0,0,777,0,0.0 +26,, +27,, +27,BOWL,SUM,1,1,0,0,0,259,0,0.0 +27,CUP,SUM,1,1,0,0,0,259,0,0.0 +27,SPOON,SUM,1,1,0,0,0,259,0,0.0 +27,,SUM,3,3,0,0,0,777,0,0.0 +27,, +28,, +28,BOWL,SUM,1,1,0,0,0,259,0,0.0 +28,CUP,SUM,1,1,0,0,0,259,0,0.0 +28,SPOON,SUM,1,1,0,0,0,259,0,0.0 +28,,SUM,3,3,0,0,0,777,0,0.0 +28,, +29,, +29,BOWL,SUM,1,1,0,0,0,259,0,0.0 +29,CUP,SUM,1,1,0,0,0,259,0,0.0 +29,SPOON,SUM,1,1,0,0,0,259,0,0.0 +29,,SUM,3,3,0,0,0,777,0,0.0 +29,, +30,, +30,BOWL,SUM,1,1,0,0,0,259,0,0.0 +30,CUP,SUM,1,1,0,0,0,259,0,0.0 +30,SPOON,SUM,1,1,0,0,0,259,0,0.0 +30,,SUM,3,3,0,0,0,777,0,0.0 +30,, +31,, +31,BOWL,SUM,1,1,0,0,0,259,0,0.0 +31,CUP,SUM,1,1,0,0,0,259,0,0.0 +31,SPOON,SUM,1,1,0,0,0,259,0,0.0 +31,,SUM,3,3,0,0,0,777,0,0.0 +31,, +32,, +32,BOWL,SUM,1,1,0,0,0,259,0,0.0 +32,CUP,SUM,1,1,0,0,0,259,0,0.0 +32,SPOON,SUM,1,1,0,0,0,259,0,0.0 +32,,SUM,3,3,0,0,0,777,0,0.0 +32,, +33,, +33,BOWL,SUM,1,1,0,0,0,259,0,0.0 +33,CUP,SUM,1,1,0,0,0,259,0,0.0 +33,SPOON,SUM,1,1,0,0,0,259,0,0.0 +33,,SUM,3,3,0,0,0,777,0,0.0 +33,, +34,, +34,BOWL,SUM,1,1,0,0,0,259,0,0.0 +34,CUP,SUM,1,1,0,0,0,259,0,0.0 +34,SPOON,SUM,1,1,0,0,0,259,0,0.0 +34,,SUM,3,3,0,0,0,777,0,0.0 +34,, +35,, +35,BOWL,SUM,1,1,0,0,0,259,0,0.0 +35,CUP,SUM,1,1,0,0,0,259,0,0.0 +35,SPOON,SUM,1,1,0,0,0,259,0,0.0 +35,,SUM,3,3,0,0,0,777,0,0.0 +35,, +36,, +36,BOWL,SUM,1,1,0,0,0,259,0,0.0 +36,CUP,SUM,1,1,0,0,0,259,0,0.0 +36,SPOON,SUM,1,1,0,0,0,259,0,0.0 +36,,SUM,3,3,0,0,0,777,0,0.0 +36,, +37,, +37,BOWL,SUM,1,1,0,0,0,259,0,0.0 +37,CUP,SUM,1,1,0,0,0,259,0,0.0 +37,SPOON,SUM,1,1,0,0,0,259,0,0.0 +37,,SUM,3,3,0,0,0,777,0,0.0 +37,, +38,, +38,BOWL,SUM,1,1,0,0,0,259,0,0.0 +38,CUP,SUM,1,1,0,0,0,259,0,0.0 +38,SPOON,SUM,1,1,0,0,0,259,0,0.0 +38,,SUM,3,3,0,0,0,777,0,0.0 +38,, +39,, +39,BOWL,SUM,1,1,0,0,0,259,0,0.0 +39,CUP,SUM,1,1,0,0,0,259,0,0.0 +39,SPOON,SUM,1,1,0,0,0,259,0,0.0 +39,,SUM,3,3,0,0,0,777,0,0.0 +39,, +40,, +40,BOWL,SUM,1,1,0,0,0,259,0,0.0 +40,CUP,SUM,1,1,0,0,0,259,0,0.0 +40,SPOON,SUM,1,1,0,0,0,259,0,0.0 +40,,SUM,3,3,0,0,0,777,0,0.0 +40,, +41,, +41,BOWL,SUM,1,1,0,0,0,259,0,0.0 +41,CUP,SUM,1,1,0,0,0,259,0,0.0 +41,SPOON,SUM,1,1,0,0,0,259,0,0.0 +41,,SUM,3,3,0,0,0,777,0,0.0 +41,, +42,, +42,BOWL,SUM,1,1,0,0,0,259,0,0.0 +42,CUP,SUM,1,1,0,0,0,259,0,0.0 +42,SPOON,SUM,1,1,0,0,0,259,0,0.0 +42,,SUM,3,3,0,0,0,777,0,0.0 +42,, +43,, +43,BOWL,SUM,1,1,0,0,0,259,0,0.0 +43,CUP,SUM,1,1,0,0,0,259,0,0.0 +43,SPOON,SUM,1,1,0,0,0,259,0,0.0 +43,,SUM,3,3,0,0,0,777,0,0.0 +43,, +44,, +44,BOWL,SUM,1,1,0,0,0,259,0,0.0 +44,CUP,SUM,1,1,0,0,0,259,0,0.0 +44,SPOON,SUM,1,1,0,0,0,259,0,0.0 +44,,SUM,3,3,0,0,0,777,0,0.0 +44,, +45,, +45,BOWL,SUM,1,1,0,0,0,259,0,0.0 +45,CUP,SUM,1,1,0,0,0,259,0,0.0 +45,SPOON,SUM,1,1,0,0,0,259,0,0.0 +45,,SUM,3,3,0,0,0,777,0,0.0 +45,, +46,, +46,BOWL,SUM,1,1,0,0,0,259,0,0.0 +46,CUP,SUM,1,1,0,0,0,259,0,0.0 +46,SPOON,SUM,1,1,0,0,0,259,0,0.0 +46,,SUM,3,3,0,0,0,777,0,0.0 +46,, +47,, +47,BOWL,SUM,1,1,0,0,0,259,0,0.0 +47,CUP,SUM,1,1,0,0,0,259,0,0.0 +47,SPOON,SUM,1,1,0,0,0,259,0,0.0 +47,,SUM,3,3,0,0,0,777,0,0.0 +47,, +48,, +48,BOWL,SUM,1,1,0,0,0,259,0,0.0 +48,CUP,SUM,1,1,0,0,0,259,0,0.0 +48,SPOON,SUM,1,1,0,0,0,259,0,0.0 +48,,SUM,3,3,0,0,0,777,0,0.0 +48,, +49,, +49,BOWL,SUM,1,1,0,0,0,259,0,0.0 +49,CUP,SUM,1,1,0,0,0,259,0,0.0 +49,SPOON,SUM,1,1,0,0,0,259,0,0.0 +49,,SUM,3,3,0,0,0,777,0,0.0 +49,, +50,, +50,BOWL,SUM,1,1,0,0,0,259,0,0.0 +50,CUP,SUM,1,1,0,0,0,259,0,0.0 +50,SPOON,SUM,1,1,0,0,0,259,0,0.0 +50,,SUM,3,3,0,0,0,777,0,0.0 +50,, +51,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv new file mode 100644 index 0000000000..ca7ff37561 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv @@ -0,0 +1,603 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,1,1,0,0,0,259,0,0 +0,CUP,SUM,1,1,0,0,0,259,0,0 +0,SPOON,SUM,1,0,1,0,0,319,0,0 +0,,SUM,3,2,1,0,0,837,0,0 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,1,1,0,0,0,259,0,0 +1,CUP,SUM,1,0,1,0,6,285,0,0 +1,SPOON,SUM,1,0,1,0,2,281,0,0 +1,,SUM,3,1,2,0,8,825,0,0 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,1,1,0,0,0,259,0,0 +2,CUP,SUM,1,0,1,0,0,290,0,0 +2,SPOON,SUM,1,0,1,0,0,286,0,0 +2,,SUM,3,1,2,0,0,835,0,0 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,1,1,0,0,0,259,0,0 +3,CUP,SUM,1,0,1,0,4,235,67,0 +3,SPOON,SUM,1,0,1,0,0,281,0,0 +3,,SUM,3,1,2,0,4,775,67,0 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,1,1,0,0,0,259,0,0 +4,CUP,SUM,1,0,1,0,0,357,0,0 +4,SPOON,SUM,1,1,0,0,0,259,0,0 +4,,SUM,3,2,1,0,0,875,0,0 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,1,0,1,0,0,360,0,0 +5,CUP,SUM,1,0,1,0,0,290,0,0 +5,SPOON,SUM,1,0,1,0,24,292,0,0 +5,,SUM,3,0,3,0,24,942,0,0 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,1,0,1,0,8,344,0,0 +6,CUP,SUM,1,0,1,0,0,222,64,0 +6,SPOON,SUM,1,1,0,0,0,259,0,0 +6,,SUM,3,1,2,0,8,825,64,0 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,1,0,1,0,10,294,0,0 +7,CUP,SUM,1,1,0,0,0,259,0,0 +7,SPOON,SUM,1,1,0,0,0,259,0,0 +7,,SUM,3,2,1,0,10,812,0,0 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,1,1,0,0,0,259,0,0 +8,CUP,SUM,1,0,1,0,58,186,0,0 +8,SPOON,SUM,1,0,1,0,0,339,0,0 +8,,SUM,3,1,2,0,58,784,0,0 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,1,0,1,0,0,311,0,0 +9,CUP,SUM,1,0,0,1,0,462,7,0 +9,SPOON,SUM,1,0,1,0,6,386,0,0 +9,,SUM,3,0,2,1,6,1159,7,0 +9,,,,,,,,,, +10,,,,,,,,,, +10,BOWL,SUM,1,0,1,0,0,282,0,0 +10,CUP,SUM,1,0,1,0,0,289,0,0 +10,SPOON,SUM,1,1,0,0,0,259,0,0 +10,,SUM,3,1,2,0,0,830,0,0 +10,,,,,,,,,, +11,,,,,,,,,, +11,BOWL,SUM,1,0,1,0,2,311,0,0 +11,CUP,SUM,1,0,1,0,2,357,0,0 +11,SPOON,SUM,1,0,1,0,0,386,0,0 +11,,SUM,3,0,3,0,4,1054,0,0 +11,,,,,,,,,, +12,,,,,,,,,, +12,BOWL,SUM,0,0,0,0,2,101,30,78.1264200211 +12,CUP,SUM,1,1,0,0,0,259,0,0 +12,SPOON,SUM,1,1,0,0,0,259,0,0 +12,,SUM,2,2,0,0,2,619,30,78.1264200211 +12,,,,,,,,,, +13,,,,,,,,,, +13,BOWL,SUM,1,1,0,0,0,259,0,0 +13,CUP,SUM,1,0,1,0,8,372,0,0 +13,SPOON,SUM,1,0,1,0,0,375,0,0 +13,,SUM,3,1,2,0,8,1006,0,0 +13,,,,,,,,,, +14,,,,,,,,,, +14,BOWL,SUM,1,0,1,0,0,311,0,0 +14,CUP,SUM,1,0,1,0,0,72,66,0 +14,SPOON,SUM,1,1,0,0,0,259,0,0 +14,,SUM,3,1,2,0,0,642,66,0 +14,,,,,,,,,, +15,,,,,,,,,, +15,BOWL,SUM,1,0,1,0,0,294,0,0 +15,CUP,SUM,1,0,1,0,0,377,0,0 +15,SPOON,SUM,1,0,1,0,0,293,0,0 +15,,SUM,3,0,3,0,0,964,0,0 +15,,,,,,,,,, +16,,,,,,,,,, +16,BOWL,SUM,1,0,1,0,0,319,0,0 +16,CUP,SUM,1,0,1,0,8,295,0,0 +16,SPOON,SUM,1,0,1,0,0,294,0,0 +16,,SUM,3,0,3,0,8,908,0,0 +16,,,,,,,,,, +17,,,,,,,,,, +17,BOWL,SUM,1,0,1,0,0,279,0,0 +17,CUP,SUM,1,0,1,0,0,352,0,0 +17,SPOON,SUM,1,1,0,0,0,259,0,0 +17,,SUM,3,1,2,0,0,890,0,0 +17,,,,,,,,,, +18,,,,,,,,,, +18,BOWL,SUM,1,1,0,0,0,259,0,0 +18,CUP,SUM,1,0,1,0,0,286,0,0 +18,SPOON,SUM,1,1,0,0,0,259,0,0 +18,,SUM,3,2,1,0,0,804,0,0 +18,,,,,,,,,, +19,,,,,,,,,, +19,BOWL,SUM,1,0,1,0,0,439,0,0 +19,CUP,SUM,1,0,1,0,52,231,0,0 +19,SPOON,SUM,1,1,0,0,0,259,0,0 +19,,SUM,3,1,2,0,52,929,0,0 +19,,,,,,,,,, +20,,,,,,,,,, +20,BOWL,SUM,1,0,1,0,0,377,0,0 +20,CUP,SUM,1,0,1,0,0,105,38,0 +20,SPOON,SUM,1,0,1,0,2,375,0,0 +20,,SUM,3,0,3,0,2,857,38,0 +20,,,,,,,,,, +21,,,,,,,,,, +21,BOWL,SUM,1,1,0,0,0,259,0,0 +21,CUP,SUM,1,0,1,0,0,268,56,0 +21,SPOON,SUM,1,0,1,0,6,286,0,0 +21,,SUM,3,1,2,0,6,813,56,0 +21,,,,,,,,,, +22,,,,,,,,,, +22,BOWL,SUM,1,1,0,0,0,259,0,0 +22,CUP,SUM,1,0,1,0,0,377,0,0 +22,SPOON,SUM,1,1,0,0,0,259,0,0 +22,,SUM,3,2,1,0,0,895,0,0 +22,,,,,,,,,, +23,,,,,,,,,, +23,BOWL,SUM,1,0,1,0,0,279,0,0 +23,CUP,SUM,1,0,1,0,0,377,0,0 +23,SPOON,SUM,1,1,0,0,0,259,0,0 +23,,SUM,3,1,2,0,0,915,0,0 +23,,,,,,,,,, +24,,,,,,,,,, +24,BOWL,SUM,1,1,0,0,56,161,0,0 +24,CUP,SUM,1,0,1,0,0,199,66,0 +24,SPOON,SUM,1,0,1,0,0,281,0,0 +24,,SUM,3,1,2,0,56,641,66,0 +24,,,,,,,,,, +25,,,,,,,,,, +25,BOWL,SUM,1,0,1,0,8,282,0,0 +25,CUP,SUM,1,0,1,0,0,187,67,0 +25,SPOON,SUM,1,0,1,0,20,293,0,0 +25,,SUM,3,0,3,0,28,762,67,0 +25,,,,,,,,,, +26,,,,,,,,,, +26,BOWL,SUM,1,0,1,0,4,299,0,0 +26,CUP,SUM,1,1,0,0,0,259,0,0 +26,SPOON,SUM,1,0,1,0,0,293,0,0 +26,,SUM,3,1,2,0,4,851,0,0 +26,,,,,,,,,, +27,,,,,,,,,, +27,BOWL,SUM,1,1,0,0,0,259,0,0 +27,CUP,SUM,1,0,1,0,52,302,0,0 +27,SPOON,SUM,1,1,0,0,0,259,0,0 +27,,SUM,3,2,1,0,52,820,0,0 +27,,,,,,,,,, +28,,,,,,,,,, +28,BOWL,SUM,1,0,1,0,0,337,0,0 +28,CUP,SUM,1,1,0,0,0,259,0,0 +28,SPOON,SUM,1,0,1,0,10,292,0,0 +28,,SUM,3,1,2,0,10,888,0,0 +28,,,,,,,,,, +29,,,,,,,,,, +29,BOWL,SUM,1,1,0,0,0,259,0,0 +29,CUP,SUM,1,0,1,0,2,350,0,0 +29,SPOON,SUM,1,0,1,0,6,281,0,0 +29,,SUM,3,1,2,0,8,890,0,0 +29,,,,,,,,,, +30,,,,,,,,,, +30,BOWL,SUM,1,0,1,0,2,311,0,0 +30,CUP,SUM,1,0,0,1,0,394,2,0 +30,SPOON,SUM,1,0,1,0,0,292,0,0 +30,,SUM,3,0,2,1,2,997,2,0 +30,,,,,,,,,, +31,,,,,,,,,, +31,BOWL,SUM,1,1,0,0,0,259,0,0 +31,CUP,SUM,1,0,1,0,2,357,0,0 +31,SPOON,SUM,1,0,1,0,0,286,0,0 +31,,SUM,3,1,2,0,2,902,0,0 +31,,,,,,,,,, +32,,,,,,,,,, +32,BOWL,SUM,1,1,0,0,0,259,0,0 +32,CUP,SUM,1,0,1,0,0,333,0,0 +32,SPOON,SUM,1,0,1,0,0,280,0,0 +32,,SUM,3,1,2,0,0,872,0,0 +32,,,,,,,,,, +33,,,,,,,,,, +33,BOWL,SUM,1,1,0,0,0,259,0,0 +33,CUP,SUM,1,0,1,0,16,407,0,0 +33,SPOON,SUM,1,1,0,0,0,259,0,0 +33,,SUM,3,2,1,0,16,925,0,0 +33,,,,,,,,,, +34,,,,,,,,,, +34,BOWL,SUM,1,1,0,0,0,259,0,0 +34,CUP,SUM,1,0,1,0,30,143,64,0 +34,SPOON,SUM,1,0,1,0,0,281,0,0 +34,,SUM,3,1,2,0,30,683,64,0 +34,,,,,,,,,, +35,,,,,,,,,, +35,BOWL,SUM,1,0,1,0,6,293,0,0 +35,CUP,SUM,1,0,1,0,8,308,0,0 +35,SPOON,SUM,1,1,0,0,0,259,0,0 +35,,SUM,3,1,2,0,14,860,0,0 +35,,,,,,,,,, +36,,,,,,,,,, +36,BOWL,SUM,1,0,1,0,26,293,0,0 +36,CUP,SUM,1,0,1,0,0,329,0,0 +36,SPOON,SUM,1,0,1,0,0,287,0,0 +36,,SUM,3,0,3,0,26,909,0,0 +36,,,,,,,,,, +37,,,,,,,,,, +37,BOWL,SUM,1,1,0,0,0,259,0,0 +37,CUP,SUM,1,0,1,0,0,169,62,0 +37,SPOON,SUM,1,0,1,0,0,293,0,0 +37,,SUM,3,1,2,0,0,721,62,0 +37,,,,,,,,,, +38,,,,,,,,,, +38,BOWL,SUM,1,1,0,0,0,259,0,0 +38,CUP,SUM,1,1,0,0,0,259,0,0 +38,SPOON,SUM,1,1,0,0,0,259,0,0 +38,,SUM,3,3,0,0,0,777,0,0 +38,,,,,,,,,, +39,,,,,,,,,, +39,BOWL,SUM,1,0,1,0,0,337,0,0 +39,CUP,SUM,1,0,1,0,0,222,0,0 +39,SPOON,SUM,1,0,1,0,2,288,0,0 +39,,SUM,3,0,3,0,2,847,0,0 +39,,,,,,,,,, +40,,,,,,,,,, +40,BOWL,SUM,1,1,0,0,0,259,0,0 +40,CUP,SUM,1,0,1,0,0,150,62,0 +40,SPOON,SUM,1,1,0,0,0,259,0,0 +40,,SUM,3,2,1,0,0,668,62,0 +40,,,,,,,,,, +41,,,,,,,,,, +41,BOWL,SUM,1,0,1,0,0,279,0,0 +41,CUP,SUM,1,0,1,0,0,407,0,0 +41,SPOON,SUM,1,1,0,0,0,259,0,0 +41,,SUM,3,1,2,0,0,945,0,0 +41,,,,,,,,,, +42,,,,,,,,,, +42,BOWL,SUM,1,1,0,0,0,259,0,0 +42,CUP,SUM,1,0,1,0,0,278,0,0 +42,SPOON,SUM,1,0,1,0,0,294,0,0 +42,,SUM,3,1,2,0,0,831,0,0 +42,,,,,,,,,, +43,,,,,,,,,, +43,BOWL,SUM,1,1,0,0,0,259,0,0 +43,CUP,SUM,1,1,0,0,96,17,0,0 +43,SPOON,SUM,1,0,1,0,32,307,0,0 +43,,SUM,3,2,1,0,128,583,0,0 +43,,,,,,,,,, +44,,,,,,,,,, +44,BOWL,SUM,1,0,1,0,0,279,0,0 +44,CUP,SUM,1,0,1,0,0,181,62,0 +44,SPOON,SUM,1,0,1,0,0,282,0,0 +44,,SUM,3,0,3,0,0,742,62,0 +44,,,,,,,,,, +45,,,,,,,,,, +45,BOWL,SUM,1,0,1,0,0,360,0,0 +45,CUP,SUM,1,0,1,0,0,278,0,0 +45,SPOON,SUM,1,1,0,0,0,259,0,0 +45,,SUM,3,1,2,0,0,897,0,0 +45,,,,,,,,,, +46,,,,,,,,,, +46,BOWL,SUM,1,1,0,0,0,259,0,0 +46,CUP,SUM,1,1,0,0,0,259,0,0 +46,SPOON,SUM,1,1,0,0,0,259,0,0 +46,,SUM,3,3,0,0,0,777,0,0 +46,,,,,,,,,, +47,,,,,,,,,, +47,BOWL,SUM,1,1,0,0,0,259,0,0 +47,CUP,SUM,1,0,0,1,0,411,6,0 +47,SPOON,SUM,0,0,0,0,0,85,4,29.5863640308 +47,,SUM,2,1,0,1,0,755,10,29.5863640308 +47,,,,,,,,,, +48,,,,,,,,,, +48,BOWL,SUM,1,1,0,0,0,259,0,0 +48,CUP,SUM,1,1,0,0,0,259,0,0 +48,SPOON,SUM,1,1,0,0,0,259,0,0 +48,,SUM,3,3,0,0,0,777,0,0 +48,,,,,,,,,, +49,,,,,,,,,, +49,BOWL,SUM,1,1,0,0,0,259,0,0 +49,CUP,SUM,1,1,0,0,0,259,0,0 +49,SPOON,SUM,1,1,0,0,0,259,0,0 +49,,SUM,3,3,0,0,0,777,0,0 +49,,,,,,,,,, +50,,,,,,,,,, +50,BOWL,SUM,1,1,0,0,0,259,0,0 +50,CUP,SUM,1,1,0,0,0,259,0,0 +50,SPOON,SUM,1,0,1,0,0,341,0,0 +50,,SUM,3,2,1,0,0,859,0,0 +50,,,,,,,,,, +51,,,,,,,,,, +51,BOWL,SUM,1,1,0,0,0,259,0,0 +51,CUP,SUM,1,0,1,0,52,185,0,0 +51,SPOON,SUM,1,0,1,0,6,339,0,0 +51,,SUM,3,1,2,0,58,783,0,0 +51,,,,,,,,,, +52,,,,,,,,,, +52,BOWL,SUM,1,0,1,0,0,286,0,0 +52,CUP,SUM,1,0,1,0,2,333,0,0 +52,SPOON,SUM,1,0,1,0,4,281,0,0 +52,,SUM,3,0,3,0,6,900,0,0 +52,,,,,,,,,, +53,,,,,,,,,, +53,BOWL,SUM,1,0,1,0,0,357,0,0 +53,CUP,SUM,1,0,1,0,0,290,0,0 +53,SPOON,SUM,1,0,1,0,6,375,0,0 +53,,SUM,3,0,3,0,6,1022,0,0 +53,,,,,,,,,, +54,,,,,,,,,, +54,BOWL,SUM,1,1,0,0,0,259,0,0 +54,CUP,SUM,1,1,0,0,0,259,0,0 +54,SPOON,SUM,1,1,0,0,0,259,0,0 +54,,SUM,3,3,0,0,0,777,0,0 +54,,,,,,,,,, +55,,,,,,,,,, +55,BOWL,SUM,1,1,0,0,0,259,0,0 +55,CUP,SUM,1,0,0,1,4,291,7,0 +55,SPOON,SUM,1,0,1,0,2,339,0,0 +55,,SUM,3,1,1,1,6,889,7,0 +55,,,,,,,,,, +56,,,,,,,,,, +56,BOWL,SUM,1,0,1,0,0,294,0,0 +56,CUP,SUM,1,1,0,0,0,259,0,0 +56,SPOON,SUM,1,0,1,0,0,292,0,0 +56,,SUM,3,1,2,0,0,845,0,0 +56,,,,,,,,,, +57,,,,,,,,,, +57,BOWL,SUM,1,0,1,0,6,377,0,0 +57,CUP,SUM,1,0,0,1,0,464,4,0 +57,SPOON,SUM,1,1,0,0,0,259,0,0 +57,,SUM,3,1,1,1,6,1100,4,0 +57,,,,,,,,,, +58,,,,,,,,,, +58,BOWL,SUM,1,1,0,0,0,259,0,0 +58,CUP,SUM,1,1,0,0,0,259,0,0 +58,SPOON,SUM,1,1,0,0,0,259,0,0 +58,,SUM,3,3,0,0,0,777,0,0 +58,,,,,,,,,, +59,,,,,,,,,, +59,BOWL,SUM,1,1,0,0,0,259,0,0 +59,CUP,SUM,1,1,0,0,0,259,0,0 +59,SPOON,SUM,1,1,0,0,0,259,0,0 +59,,SUM,3,3,0,0,0,777,0,0 +59,,,,,,,,,, +60,,,,,,,,,, +60,BOWL,SUM,1,1,0,0,0,259,0,0 +60,CUP,SUM,1,0,1,0,0,245,53,0 +60,SPOON,SUM,1,0,1,0,0,101,0,0 +60,,SUM,3,1,2,0,0,605,53,0 +60,,,,,,,,,, +61,,,,,,,,,, +61,BOWL,SUM,1,1,0,0,0,259,0,0 +61,CUP,SUM,1,0,1,0,62,174,0,0 +61,SPOON,SUM,1,0,1,0,0,293,0,0 +61,,SUM,3,1,2,0,62,726,0,0 +61,,,,,,,,,, +62,,,,,,,,,, +62,BOWL,SUM,1,0,1,0,0,279,0,0 +62,CUP,SUM,1,0,1,0,0,294,0,0 +62,SPOON,SUM,1,0,1,0,0,293,0,0 +62,,SUM,3,0,3,0,0,866,0,0 +62,,,,,,,,,, +63,,,,,,,,,, +63,BOWL,SUM,1,1,0,0,0,259,0,0 +63,CUP,SUM,1,1,0,0,0,259,0,0 +63,SPOON,SUM,1,0,1,0,6,375,0,0 +63,,SUM,3,2,1,0,6,893,0,0 +63,,,,,,,,,, +64,,,,,,,,,, +64,BOWL,SUM,1,0,1,0,6,292,0,0 +64,CUP,SUM,1,0,1,0,6,290,0,0 +64,SPOON,SUM,1,1,0,0,0,259,0,0 +64,,SUM,3,1,2,0,12,841,0,0 +64,,,,,,,,,, +65,,,,,,,,,, +65,BOWL,SUM,1,1,0,0,0,259,0,0 +65,CUP,SUM,1,1,0,0,0,259,0,0 +65,SPOON,SUM,1,0,1,0,0,286,0,0 +65,,SUM,3,2,1,0,0,804,0,0 +65,,,,,,,,,, +66,,,,,,,,,, +66,BOWL,SUM,1,0,1,0,0,299,0,0 +66,CUP,SUM,1,0,0,1,2,304,0,0 +66,SPOON,SUM,1,1,0,0,0,259,0,0 +66,,SUM,3,1,1,1,2,862,0,0 +66,,,,,,,,,, +67,,,,,,,,,, +67,BOWL,SUM,1,1,0,0,0,259,0,0 +67,CUP,SUM,1,1,0,0,18,19,0,0 +67,SPOON,SUM,1,0,1,0,0,288,0,0 +67,,SUM,3,2,1,0,18,566,0,0 +67,,,,,,,,,, +68,,,,,,,,,, +68,BOWL,SUM,1,1,0,0,0,259,0,0 +68,CUP,SUM,1,1,0,0,0,259,0,0 +68,SPOON,SUM,1,1,0,0,0,259,0,0 +68,,SUM,3,3,0,0,0,777,0,0 +68,,,,,,,,,, +69,,,,,,,,,, +69,BOWL,SUM,1,1,0,0,0,259,0,0 +69,CUP,SUM,1,0,1,0,2,349,0,0 +69,SPOON,SUM,1,1,0,0,46,72,0,0 +69,,SUM,3,2,1,0,48,680,0,0 +69,,,,,,,,,, +70,,,,,,,,,, +70,BOWL,SUM,1,0,1,0,0,319,0,0 +70,CUP,SUM,1,0,1,0,0,291,0,0 +70,SPOON,SUM,1,0,1,0,0,281,0,0 +70,,SUM,3,0,3,0,0,891,0,0 +70,,,,,,,,,, +71,,,,,,,,,, +71,BOWL,SUM,1,1,0,0,0,259,0,0 +71,CUP,SUM,1,0,0,1,0,289,2,0 +71,SPOON,SUM,1,1,0,0,0,259,0,0 +71,,SUM,3,2,0,1,0,807,2,0 +71,,,,,,,,,, +72,,,,,,,,,, +72,BOWL,SUM,1,0,1,0,0,360,0,0 +72,CUP,SUM,1,0,1,0,28,296,0,0 +72,SPOON,SUM,1,0,1,0,8,294,0,0 +72,,SUM,3,0,3,0,36,950,0,0 +72,,,,,,,,,, +73,,,,,,,,,, +73,BOWL,SUM,1,1,0,0,0,259,0,0 +73,CUP,SUM,1,0,1,0,0,165,39,0 +73,SPOON,SUM,1,1,0,0,0,259,0,0 +73,,SUM,3,2,1,0,0,683,39,0 +73,,,,,,,,,, +74,,,,,,,,,, +74,BOWL,SUM,1,1,0,0,0,259,0,0 +74,CUP,SUM,1,0,1,0,0,280,60,0 +74,SPOON,SUM,1,1,0,0,0,259,0,0 +74,,SUM,3,2,1,0,0,798,60,0 +74,,,,,,,,,, +75,,,,,,,,,, +75,BOWL,SUM,1,1,0,0,0,259,0,0 +75,CUP,SUM,1,0,1,0,0,350,16,0 +75,SPOON,SUM,1,1,0,0,0,259,0,0 +75,,SUM,3,2,1,0,0,868,16,0 +75,,,,,,,,,, +76,,,,,,,,,, +76,BOWL,SUM,1,1,0,0,0,259,0,0 +76,CUP,SUM,1,0,1,0,0,342,0,0 +76,SPOON,SUM,1,1,0,0,0,259,0,0 +76,,SUM,3,2,1,0,0,860,0,0 +76,,,,,,,,,, +77,,,,,,,,,, +77,BOWL,SUM,0,0,0,0,0,132,4,43.8797252178 +77,CUP,SUM,1,1,0,0,0,259,0,0 +77,SPOON,SUM,1,1,0,0,0,259,0,0 +77,,SUM,2,2,0,0,0,650,4,43.8797252178 +77,,,,,,,,,, +78,,,,,,,,,, +78,BOWL,SUM,1,0,1,0,0,337,0,0 +78,CUP,SUM,1,0,0,1,0,384,7,0 +78,SPOON,SUM,1,0,1,0,0,286,0,0 +78,,SUM,3,0,2,1,0,1007,7,0 +78,,,,,,,,,, +79,,,,,,,,,, +79,BOWL,SUM,1,0,1,0,0,357,0,0 +79,CUP,SUM,1,0,1,0,14,190,62,0 +79,SPOON,SUM,1,1,0,0,0,259,0,0 +79,,SUM,3,1,2,0,14,806,62,0 +79,,,,,,,,,, +80,,,,,,,,,, +80,BOWL,SUM,1,1,0,0,0,259,0,0 +80,CUP,SUM,1,1,0,0,0,259,0,0 +80,SPOON,SUM,1,0,1,0,0,281,0,0 +80,,SUM,3,2,1,0,0,799,0,0 +80,,,,,,,,,, +81,,,,,,,,,, +81,BOWL,SUM,1,1,0,0,0,259,0,0 +81,CUP,SUM,1,0,1,0,0,295,0,0 +81,SPOON,SUM,1,1,0,0,0,259,0,0 +81,,SUM,3,2,1,0,0,813,0,0 +81,,,,,,,,,, +82,,,,,,,,,, +82,BOWL,SUM,1,1,0,0,0,259,0,0 +82,CUP,SUM,1,0,1,0,2,301,0,0 +82,SPOON,SUM,1,1,0,0,0,259,0,0 +82,,SUM,3,2,1,0,2,819,0,0 +82,,,,,,,,,, +83,,,,,,,,,, +83,BOWL,SUM,1,0,1,0,4,298,0,0 +83,CUP,SUM,1,0,1,0,2,291,0,0 +83,SPOON,SUM,1,1,0,0,0,259,0,0 +83,,SUM,3,1,2,0,6,848,0,0 +83,,,,,,,,,, +84,,,,,,,,,, +84,BOWL,SUM,1,0,1,0,0,360,0,0 +84,CUP,SUM,1,0,1,0,0,282,0,0 +84,SPOON,SUM,1,0,1,0,2,386,0,0 +84,,SUM,3,0,3,0,2,1028,0,0 +84,,,,,,,,,, +85,,,,,,,,,, +85,BOWL,SUM,1,0,1,0,0,311,0,0 +85,CUP,SUM,1,0,1,0,0,301,0,0 +85,SPOON,SUM,1,0,1,0,0,292,0,0 +85,,SUM,3,0,3,0,0,904,0,0 +85,,,,,,,,,, +86,,,,,,,,,, +86,BOWL,SUM,1,0,1,0,0,282,0,0 +86,CUP,SUM,1,1,0,0,88,58,0,0 +86,SPOON,SUM,1,1,0,0,0,259,0,0 +86,,SUM,3,2,1,0,88,599,0,0 +86,,,,,,,,,, +87,,,,,,,,,, +87,BOWL,SUM,1,0,1,0,4,357,0,0 +87,CUP,SUM,1,0,1,0,2,300,0,0 +87,SPOON,SUM,1,0,1,0,0,282,0,0 +87,,SUM,3,0,3,0,6,939,0,0 +87,,,,,,,,,, +88,,,,,,,,,, +88,BOWL,SUM,1,1,0,0,82,19,0,0 +88,CUP,SUM,1,0,1,0,0,289,0,0 +88,SPOON,SUM,1,0,1,0,0,281,0,0 +88,,SUM,3,1,2,0,82,589,0,0 +88,,,,,,,,,, +89,,,,,,,,,, +89,BOWL,SUM,1,1,0,0,0,259,0,0 +89,CUP,SUM,1,0,1,0,0,407,0,0 +89,SPOON,SUM,1,0,1,0,0,292,0,0 +89,,SUM,3,1,2,0,0,958,0,0 +89,,,,,,,,,, +90,,,,,,,,,, +90,BOWL,SUM,1,1,0,0,0,259,0,0 +90,CUP,SUM,1,0,1,0,0,291,0,0 +90,SPOON,SUM,1,0,1,0,0,386,0,0 +90,,SUM,3,1,2,0,0,936,0,0 +90,,,,,,,,,, +91,,,,,,,,,, +91,BOWL,SUM,1,0,1,0,0,302,0,0 +91,CUP,SUM,1,0,1,0,0,289,0,0 +91,SPOON,SUM,1,0,1,0,0,288,0,0 +91,,SUM,3,0,3,0,0,879,0,0 +91,,,,,,,,,, +92,,,,,,,,,, +92,BOWL,SUM,1,1,0,0,0,259,0,0 +92,CUP,SUM,1,1,0,0,0,259,0,0 +92,SPOON,SUM,1,0,1,0,6,282,0,0 +92,,SUM,3,2,1,0,6,800,0,0 +92,,,,,,,,,, +93,,,,,,,,,, +93,BOWL,SUM,1,1,0,0,56,161,0,0 +93,CUP,SUM,1,1,0,0,0,259,0,0 +93,SPOON,SUM,1,0,1,0,0,281,0,0 +93,,SUM,3,2,1,0,56,701,0,0 +93,,,,,,,,,, +94,,,,,,,,,, +94,BOWL,SUM,1,0,1,0,0,294,0,0 +94,CUP,SUM,1,1,0,0,0,259,0,0 +94,SPOON,SUM,1,0,1,0,8,286,0,0 +94,,SUM,3,1,2,0,8,839,0,0 +94,,,,,,,,,, +95,,,,,,,,,, +95,BOWL,SUM,1,0,1,0,0,302,0,0 +95,CUP,SUM,1,0,1,0,0,204,66,0 +95,SPOON,SUM,1,1,0,0,0,259,0,0 +95,,SUM,3,1,2,0,0,765,66,0 +95,,,,,,,,,, +96,,,,,,,,,, +96,BOWL,SUM,1,0,1,0,0,279,0,0 +96,CUP,SUM,1,0,0,1,2,282,9,0 +96,SPOON,SUM,1,1,0,0,0,259,0,0 +96,,SUM,3,1,1,1,2,820,9,0 +96,,,,,,,,,, +97,,,,,,,,,, +97,BOWL,SUM,1,0,1,0,0,439,0,0 +97,CUP,SUM,1,0,1,0,0,377,0,0 +97,SPOON,SUM,1,0,1,0,26,65,31,0 +97,,SUM,3,0,3,0,26,881,31,0 +97,,,,,,,,,, +98,,,,,,,,,, +98,BOWL,SUM,1,0,1,0,0,311,0,0 +98,CUP,SUM,1,0,1,0,0,66,91,0 +98,SPOON,SUM,1,0,1,0,0,281,0,0 +98,,SUM,3,0,3,0,0,658,91,0 +98,,,,,,,,,, +99,,,,,,,,,, +99,BOWL,SUM,1,1,0,0,0,259,0,0 +99,CUP,SUM,1,0,1,0,0,351,13,0 +99,SPOON,SUM,1,1,0,0,0,259,0,0 +99,,SUM,3,2,1,0,0,869,13,0 +99,,,,,,,,,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv new file mode 100644 index 0000000000..1c8ae1cecf --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv @@ -0,0 +1,344 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,1,1,0,0,0,267,0,0.0 +0,CUP,SUM,1,1,0,0,0,267,0,0.0 +0,, +0,BOWL,SUM,0,0,0,0,2,33,52,68.65632820129395 +0,CUP,SUM,0,0,0,0,2,73,5,14.80884313583374 +0,SPOON,SUM,0,0,0,0,0,10,4,16.17936110496521 +0,,SUM,0,0,0,0,4,116,61,99.6445324420929 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,160,56,67.94712495803833 +1,CUP,SUM,0,0,0,0,0,41,60,34.16293501853943 +1,SPOON,SUM,1,0,1,0,0,38,61,0.0 +1,,SUM,1,0,1,0,0,239,177,102.11005997657776 +1,, +2,, +2,, +2,BOWL,SUM,0,0,0,0,0,38,19,28.944631814956665 +2,CUP,SUM,1,0,1,0,0,148,108,0.0 +2,SPOON,SUM,0,0,0,0,24,100,4,32.8114800453186 +2,,SUM,1,0,1,0,24,286,131,61.75611186027527 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,116,54,69.47285199165344 +3,CUP,SUM,0,0,0,0,0,58,86,38.784554958343506 +3,SPOON,SUM,1,0,1,0,0,72,201,0.0 +3,,SUM,1,0,1,0,0,246,341,108.25740694999695 +3,, +4,, +4,BOWL,SUM,1,0,1,0,6,85,105,0.0 +4,CUP,SUM,1,0,1,0,0,65,109,0.0 +4,SPOON,SUM,0,0,0,0,0,116,19,25.614678144454956 +4,,SUM,2,0,2,0,6,266,233,25.614678144454956 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,87,3,18.05670189857483 +5,CUP,SUM,0,0,0,0,0,56,5,13.673243045806885 +5,SPOON,SUM,0,0,0,0,0,99,0,18.72205901145935 +5,,SUM,0,0,0,0,0,242,8,50.452003955841064 +5,, +6,, +6,BOWL,SUM,1,0,1,0,0,322,0,0.0 +6,CUP,SUM,1,0,1,0,0,99,105,0.0 +6,SPOON,SUM,1,0,1,0,16,169,51,0.0 +6,,SUM,3,0,3,0,16,590,156,0.0 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,108,20,29.841392040252686 +7,CUP,SUM,0,0,0,0,0,44,8,14.605607032775879 +7,SPOON,SUM,1,0,1,0,2,79,49,0.0 +7,,SUM,1,0,1,0,2,231,77,44.446999073028564 +7,, +8,, +8,BOWL,SUM,0,0,0,0,14,20,20,33.89996790885925 +8,CUP,SUM,0,0,0,0,0,135,3,16.221549034118652 +8,SPOON,SUM,0,0,0,0,0,4,0,15.23442006111145 +8,,SUM,0,0,0,0,14,159,23,65.35593700408936 +8,, +9,, +9,BOWL,SUM,0,0,0,0,2,28,52,67.25231003761292 +9,CUP,SUM,0,0,0,0,6,115,8,18.56176996231079 +9,SPOON,SUM,1,0,1,0,0,78,51,0.0 +9,,SUM,1,0,1,0,8,221,111,85.8140799999237 +9,, +10,, +10,BOWL,SUM,1,0,1,0,0,57,51,0.0 +10,CUP,SUM,0,0,0,0,0,64,8,14.64552903175354 +10,SPOON,SUM,1,0,1,0,0,299,0,0.0 +10,,SUM,2,0,2,0,0,420,59,14.64552903175354 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,38,127,106.4794590473175 +11,CUP,SUM,0,0,0,0,0,110,1,14.496638059616089 +11,SPOON,SUM,1,0,1,0,0,127,0,0.0 +11,,SUM,1,0,1,0,0,275,128,120.9760971069336 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,82,2,18.112497091293335 +12,CUP,SUM,0,0,0,0,0,32,5,13.559240102767944 +12,SPOON,SUM,1,0,1,0,40,26,72,0.0 +12,,SUM,1,0,1,0,40,140,79,31.67173719406128 +12,, +13,, +13,BOWL,SUM,0,0,0,0,2,36,54,71.73539710044861 +13,CUP,SUM,0,0,0,0,2,132,10,18.752039909362793 +13,SPOON,SUM,0,0,0,0,2,98,0,19.931888103485107 +13,,SUM,0,0,0,0,6,266,64,110.41932511329651 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,30,52,69.89477300643921 +14,CUP,SUM,0,0,0,0,8,24,5,18.10934090614319 +14,SPOON,SUM,1,0,1,0,2,90,190,0.0 +14,,SUM,1,0,1,0,10,144,247,88.0041139125824 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,20,20,30.284470081329346 +15,CUP,SUM,1,1,0,0,160,23,0,0.0 +15,SPOON,SUM,0,0,0,0,42,113,2,40.92219400405884 +15,,SUM,1,1,0,0,202,156,22,71.20666408538818 +15,, +16,, +16,BOWL,SUM,1,0,1,0,0,83,51,0.0 +16,CUP,SUM,1,0,0,1,0,88,58,0.0 +16,SPOON,SUM,0,0,0,0,0,8,1,16.768315076828003 +16,,SUM,2,0,1,1,0,179,110,16.768315076828003 +16,, +17,, +17,BOWL,SUM,1,0,1,0,0,74,100,0.0 +17,CUP,SUM,0,0,0,0,0,42,6,17.246824026107788 +17,SPOON,SUM,1,0,1,0,0,298,0,0.0 +17,,SUM,2,0,2,0,0,414,106,17.246824026107788 +17,, +18,, +18,BOWL,SUM,0,0,0,0,4,83,54,87.12933993339539 +18,CUP,SUM,0,0,0,0,0,89,2,13.787843942642212 +18,SPOON,SUM,1,0,1,0,0,314,0,0.0 +18,,SUM,1,0,1,0,4,486,56,100.9171838760376 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,32,52,81.62846517562866 +19,CUP,SUM,0,0,0,0,2,32,6,14.466835021972656 +19,SPOON,SUM,0,0,0,0,0,4,1,16.551494121551514 +19,,SUM,0,0,0,0,2,68,59,112.64679431915283 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,53,52,83.2446060180664 +20,CUP,SUM,1,0,1,0,0,140,89,0.0 +20,SPOON,SUM,0,0,0,0,0,17,1,16.880192041397095 +20,,SUM,1,0,1,0,0,210,142,100.1247980594635 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,141,52,86.96501016616821 +21,CUP,SUM,0,0,0,0,0,32,10,16.783039093017578 +21,SPOON,SUM,1,0,1,0,0,258,45,0.0 +21,,SUM,1,0,1,0,0,431,107,103.74804925918579 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,19,52,82.24688720703125 +22,CUP,SUM,1,0,1,0,0,116,110,0.0 +22,SPOON,SUM,1,0,1,0,0,393,0,0.0 +22,,SUM,2,0,2,0,0,528,162,82.24688720703125 +22,, +23,, +23,BOWL,SUM,1,0,1,0,0,70,196,0.0 +23,CUP,SUM,0,0,0,0,0,40,5,13.484529972076416 +23,SPOON,SUM,0,0,0,0,6,18,3,21.980638027191162 +23,,SUM,1,0,1,0,6,128,204,35.46516799926758 +23,, +24,, +24,BOWL,SUM,1,0,1,0,0,137,196,0.0 +24,CUP,SUM,0,0,0,0,0,24,7,13.78946590423584 +24,SPOON,SUM,1,0,1,0,0,299,0,0.0 +24,,SUM,2,0,2,0,0,460,203,13.78946590423584 +24,, +25,, +25,BOWL,SUM,1,0,1,0,0,94,196,0.0 +25,CUP,SUM,0,0,0,0,0,40,7,15.600857019424438 +25,SPOON,SUM,1,0,1,0,2,277,22,0.0 +25,,SUM,2,0,2,0,2,411,225,15.600857019424438 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,20,52,71.61752986907959 +26,CUP,SUM,0,0,0,0,4,127,31,32.976086139678955 +26,SPOON,SUM,1,0,1,0,0,310,0,0.0 +26,,SUM,1,0,1,0,4,457,83,104.59361600875854 +26,, +27,, +27,BOWL,SUM,1,0,1,0,2,70,100,0.0 +27,CUP,SUM,0,0,0,0,0,16,9,15.227828979492188 +27,SPOON,SUM,0,0,0,0,0,10,4,17.3279972076416 +27,,SUM,1,0,1,0,2,96,113,32.55582618713379 +27,, +28,, +28,BOWL,SUM,0,0,0,0,4,45,20,33.43740797042847 +28,CUP,SUM,1,0,1,0,0,137,109,0.0 +28,SPOON,SUM,1,0,1,0,2,299,0,0.0 +28,,SUM,2,0,2,0,6,481,129,33.43740797042847 +28,, +29,, +29,BOWL,SUM,1,0,1,0,56,276,43,0.0 +29,CUP,SUM,0,0,0,0,0,40,5,14.599739789962769 +29,SPOON,SUM,0,0,0,0,0,105,0,20.506134033203125 +29,,SUM,1,0,1,0,56,421,48,35.105873823165894 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,115,52,74.96259880065918 +30,CUP,SUM,1,0,1,0,0,72,110,0.0 +30,SPOON,SUM,1,0,1,0,0,299,0,0.0 +30,,SUM,2,0,2,0,0,486,162,74.96259880065918 +30,, +31,, +31,BOWL,SUM,0,0,0,0,0,107,52,84.26120281219482 +31,CUP,SUM,1,1,0,0,160,16,0,0.0 +31,SPOON,SUM,1,0,1,0,4,63,95,0.0 +31,,SUM,2,1,1,0,164,186,147,84.26120281219482 +31,, +32,, +32,BOWL,SUM,0,0,0,0,2,66,156,120.6541039943695 +32,CUP,SUM,0,0,0,0,0,123,1,16.42209792137146 +32,SPOON,SUM,1,0,1,0,0,312,6,0.0 +32,,SUM,1,0,1,0,2,501,163,137.07620191574097 +32,, +33,, +33,BOWL,SUM,1,0,1,0,0,167,54,0.0 +33,CUP,SUM,0,0,0,0,0,32,5,13.612737894058228 +33,SPOON,SUM,1,0,1,0,18,298,6,0.0 +33,,SUM,2,0,2,0,18,497,65,13.612737894058228 +33,, +34,, +34,BOWL,SUM,0,0,0,0,4,79,20,33.38473987579346 +34,CUP,SUM,1,0,1,0,8,45,114,0.0 +34,SPOON,SUM,1,0,1,0,0,88,54,0.0 +34,,SUM,2,0,2,0,12,212,188,33.38473987579346 +34,, +35,, +35,BOWL,SUM,1,0,1,0,0,70,100,0.0 +35,CUP,SUM,1,0,1,0,2,80,106,0.0 +35,SPOON,SUM,1,0,1,0,0,112,0,0.0 +35,,SUM,3,0,3,0,2,262,206,0.0 +35,, +36,, +36,BOWL,SUM,1,1,0,0,160,0,0,0.0 +36,CUP,SUM,0,0,0,0,0,31,10,16.389379024505615 +36,SPOON,SUM,1,0,1,0,0,299,0,0.0 +36,,SUM,2,1,1,0,160,330,10,16.389379024505615 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,24,55,89.44736909866333 +37,CUP,SUM,1,1,0,0,0,267,0,0.0 +37,SPOON,SUM,1,0,1,0,0,197,49,0.0 +37,,SUM,2,1,1,0,0,488,104,89.44736909866333 +37,, +38,, +38,BOWL,SUM,0,0,0,0,2,86,22,35.61963701248169 +38,CUP,SUM,1,0,1,0,46,70,110,0.0 +38,SPOON,SUM,1,0,1,0,0,91,102,0.0 +38,,SUM,2,0,2,0,48,247,234,35.61963701248169 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,102,52,86.15836000442505 +39,CUP,SUM,1,0,1,0,2,60,106,0.0 +39,SPOON,SUM,0,0,0,0,0,66,0,18.2672438621521 +39,,SUM,1,0,1,0,2,228,158,104.42560386657715 +39,, +40,, +40,BOWL,SUM,1,0,1,0,0,299,0,0.0 +40,CUP,SUM,0,0,0,0,6,37,0,14.463380098342896 +40,SPOON,SUM,1,0,1,0,8,310,0,0.0 +40,,SUM,2,0,2,0,14,646,0,14.463380098342896 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,44,5,17.48666214942932 +41,CUP,SUM,1,0,1,0,0,79,109,0.0 +41,SPOON,SUM,1,0,1,0,0,101,195,0.0 +41,,SUM,2,0,2,0,0,224,309,17.48666214942932 +41,, +42,, +42,BOWL,SUM,1,0,1,0,42,306,0,0.0 +42,CUP,SUM,1,0,1,0,0,111,110,0.0 +42,SPOON,SUM,0,0,0,0,0,17,0,16.064654111862183 +42,,SUM,2,0,2,0,42,434,110,16.064654111862183 +42,, +43,, +43,BOWL,SUM,0,0,0,0,2,17,56,74.47624015808105 +43,CUP,SUM,0,0,0,0,0,32,3,14.611937046051025 +43,SPOON,SUM,1,0,1,0,0,107,52,0.0 +43,,SUM,1,0,1,0,2,156,111,89.08817720413208 +43,, +44,, +44,BOWL,SUM,1,0,1,0,2,333,0,0.0 +44,CUP,SUM,0,0,0,0,0,87,9,18.679351806640625 +44,SPOON,SUM,1,0,1,0,0,309,5,0.0 +44,,SUM,2,0,2,0,2,729,14,18.679351806640625 +44,, +45,, +45,BOWL,SUM,1,0,1,0,0,144,52,0.0 +45,CUP,SUM,1,0,1,0,4,76,59,0.0 +45,SPOON,SUM,0,0,0,0,24,106,2,32.48216199874878 +45,,SUM,2,0,2,0,28,326,113,32.48216199874878 +45,, +46,, +46,BOWL,SUM,1,0,1,0,0,82,99,0.0 +46,CUP,SUM,1,0,1,0,0,90,110,0.0 +46,SPOON,SUM,0,0,0,0,0,14,0,16.040321111679077 +46,,SUM,2,0,2,0,0,186,209,16.040321111679077 +46,, +47,, +47,BOWL,SUM,1,0,1,0,0,378,0,0.0 +47,CUP,SUM,1,0,1,0,0,120,110,0.0 +47,SPOON,SUM,1,0,1,0,0,108,52,0.0 +47,,SUM,3,0,3,0,0,606,162,0.0 +47,, +48,, +48,BOWL,SUM,0,0,0,0,0,36,20,31.145217895507813 +48,CUP,SUM,0,0,0,0,2,16,9,15.34000301361084 +48,SPOON,SUM,0,0,0,0,2,15,0,18.766418933868408 +48,,SUM,0,0,0,0,4,67,29,65.25163984298706 +48,, +49,, +49,BOWL,SUM,1,0,1,0,2,355,0,0.0 +49,CUP,SUM,0,0,0,0,6,49,4,16.011169910430908 +49,SPOON,SUM,1,0,1,0,0,310,0,0.0 +49,,SUM,2,0,2,0,8,714,4,16.011169910430908 +49,, +50,, +50,BOWL,SUM,1,0,1,0,0,302,0,0.0 +50,CUP,SUM,0,0,0,0,0,40,16,23.327971935272217 +50,SPOON,SUM,1,0,1,0,0,97,100,0.0 +50,,SUM,2,0,2,0,0,439,116,23.327971935272217 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,48,57,93.77447199821472 +51,CUP,SUM,0,0,0,0,0,47,0,12.926177978515625 +51,SPOON,SUM,1,0,1,0,6,112,0,0.0 +51,,SUM,1,0,1,0,6,207,57,106.70064997673035 +51,, +52,, +52,BOWL,SUM,1,0,1,0,0,141,51,0.0 +52,CUP,SUM,1,0,1,0,0,57,112,0.0 +52,SPOON,SUM,0,0,0,0,0,43,147,77.57717204093933 +52,,SUM,2,0,2,0,0,241,310,77.57717204093933 +52,, +53,, +53,BOWL,SUM,1,1,0,0,0,267,0,0.0 +53,CUP,SUM,1,0,1,0,0,119,110,0.0 +53,SPOON,SUM,1,0,1,0,0,314,0,0.0 +53,,SUM,3,1,2,0,0,700,110,0.0 +53,, +54,, +54,BOWL,SUM,1,0,1,0,0,83,100,0.0 +54,CUP,SUM,1,0,1,0,0,83,103,0.0 +54,SPOON,SUM,1,0,1,0,6,288,43,0.0 +54,,SUM,3,0,3,0,6,454,246,0.0 +54,, +55,, +55,BOWL,SUM,0,0,0,0,2,46,20,33.42777705192566 +55,CUP,SUM,1,1,0,0,0,267,0,0.0 +55,SPOON,SUM,1,0,1,0,0,310,0,0.0 +55,,SUM,2,1,1,0,2,623,20,33.42777705192566 +55,, +56,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv new file mode 100644 index 0000000000..74bf86cc6c --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,1,0,1,0,0,47,102,0 +0,CUP,SUM,1,0,0,1,0,40,55,0 +0,SPOON,SUM,0,0,0,0,2,25,0,47.6007609367 +0,,SUM,2,0,1,1,2,112,157,47.6007609367 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,1,0,1,0,0,122,0,0 +1,CUP,SUM,1,0,0,1,0,42,29,0 +1,SPOON,SUM,0,0,0,0,0,2,0,46.4416658878 +1,,SUM,2,0,1,1,0,166,29,46.4416658878 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,1,0,1,0,2,44,104,0 +2,CUP,SUM,1,0,0,1,24,45,17,0 +2,SPOON,SUM,1,0,1,0,0,123,0,0 +2,,SUM,3,0,2,1,26,212,121,0 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,0,0,0,0,0,48,0,42.7691559792 +3,CUP,SUM,1,0,0,1,2,40,23,0 +3,SPOON,SUM,0,0,0,0,0,5,10,46.894135952 +3,,SUM,1,0,0,1,2,93,33,89.6632919312 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,1,0,1,0,0,90,86,0 +4,CUP,SUM,1,0,0,1,0,64,57,0 +4,SPOON,SUM,1,0,1,0,0,61,100,0 +4,,SUM,3,0,2,1,0,215,243,0 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,1,0,1,0,10,28,104,0 +5,CUP,SUM,1,0,0,1,0,36,27,0 +5,SPOON,SUM,0,0,0,0,0,22,0,46.4869599342 +5,,SUM,2,0,1,1,10,86,131,46.4869599342 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,0,0,0,0,0,20,54,47.8236720562 +6,CUP,SUM,0,0,0,0,0,36,10,44.7250771523 +6,SPOON,SUM,0,0,0,0,0,2,0,45.6564259529 +6,,SUM,0,0,0,0,0,58,64,138.2051751614 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,1,0,1,0,0,138,0,0 +7,CUP,SUM,1,0,1,0,0,14,113,0 +7,SPOON,SUM,0,0,0,0,0,21,0,46.2814688683 +7,,SUM,2,0,2,0,0,173,113,46.2814688683 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,1,0,1,0,0,122,0,0 +8,CUP,SUM,1,0,0,1,0,44,29,0 +8,SPOON,SUM,1,0,1,0,2,117,56,0 +8,,SUM,3,0,2,1,2,283,85,0 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,1,0,1,0,0,94,88,0 +9,CUP,SUM,1,0,0,1,0,64,79,0 +9,SPOON,SUM,0,0,0,0,2,2,0,47.4771900177 +9,,SUM,2,0,1,1,2,160,167,47.4771900177 +9,,,,,,,,,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv new file mode 100644 index 0000000000..1a7054993c --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv @@ -0,0 +1,660 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,1,0,1,0,0,47,238,0.0 +0,CUP,SUM,1,0,0,1,0,49,52,0.0 +0,SPOON,SUM,0,0,0,0,0,10,0,13.747852087020874 +0,,SUM,2,0,1,1,0,106,290,13.747852087020874 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,41,0,11.773725986480713 +1,CUP,SUM,1,0,0,1,0,41,50,0.0 +1,SPOON,SUM,0,0,0,0,0,2,0,13.849700927734375 +1,,SUM,1,0,0,1,0,84,50,25.623426914215088 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,24,40,15.485666036605835 +2,CUP,SUM,1,0,0,1,2,66,37,0.0 +2,SPOON,SUM,0,0,0,0,0,18,0,13.72604489326477 +2,,SUM,1,0,0,1,2,108,77,29.211710929870605 +2,, +3,, +3,BOWL,SUM,1,1,0,0,96,17,0,0.0 +3,CUP,SUM,0,0,0,0,2,48,2,11.096551895141602 +3,SPOON,SUM,1,0,1,0,0,70,254,0.0 +3,,SUM,2,1,1,0,98,135,256,11.096551895141602 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,36,0,11.31008791923523 +4,CUP,SUM,1,1,0,0,96,0,0,0.0 +4,SPOON,SUM,0,0,0,0,0,2,0,13.744763135910034 +4,,SUM,1,1,0,0,96,38,0,25.054851055145264 +4,, +5,, +5,BOWL,SUM,1,0,1,0,0,78,232,0.0 +5,CUP,SUM,1,0,0,1,6,66,40,0.0 +5,SPOON,SUM,0,0,0,0,0,74,46,21.48400592803955 +5,,SUM,2,0,1,1,6,218,318,21.48400592803955 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,20,20,13.400141954421997 +6,CUP,SUM,1,0,0,1,2,45,37,0.0 +6,SPOON,SUM,0,0,0,0,6,80,0,17.220659017562866 +6,,SUM,1,0,0,1,8,145,57,30.620800971984863 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,22,17,16.55961799621582 +7,CUP,SUM,1,0,0,1,2,66,41,0.0 +7,SPOON,SUM,0,0,0,0,0,22,8,14.547998189926147 +7,,SUM,1,0,0,1,2,110,66,31.107616186141968 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,36,22,17.012454986572266 +8,CUP,SUM,1,0,0,1,0,66,74,0.0 +8,SPOON,SUM,1,0,1,0,0,68,262,0.0 +8,,SUM,2,0,1,1,0,170,358,17.012454986572266 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,34,65,22.67669916152954 +9,CUP,SUM,1,0,0,1,0,65,33,0.0 +10,, +10,BOWL,SUM,1,0,1,0,0,47,238,0.0 +10,CUP,SUM,1,0,0,1,0,49,52,0.0 +10,SPOON,SUM,0,0,0,0,0,10,0,14.577277898788452 +10,,SUM,2,0,1,1,0,106,290,14.577277898788452 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,41,0,12.576086044311523 +11,CUP,SUM,1,0,0,1,0,41,50,0.0 +11,SPOON,SUM,0,0,0,0,0,2,0,13.955965995788574 +11,,SUM,1,0,0,1,0,84,50,26.532052040100098 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,24,40,16.095561981201172 +12,CUP,SUM,1,0,0,1,2,66,37,0.0 +12,SPOON,SUM,0,0,0,0,0,18,0,14.113548040390015 +12,,SUM,1,0,0,1,2,108,77,30.209110021591187 +12,, +13,, +13,BOWL,SUM,1,1,0,0,96,17,0,0.0 +13,CUP,SUM,0,0,0,0,2,48,2,11.22668194770813 +13,SPOON,SUM,1,0,1,0,0,70,254,0.0 +13,,SUM,2,1,1,0,98,135,256,11.22668194770813 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,36,0,11.74736213684082 +14,CUP,SUM,1,1,0,0,96,0,0,0.0 +14,SPOON,SUM,0,0,0,0,0,2,0,13.83800196647644 +14,,SUM,1,1,0,0,96,38,0,25.58536410331726 +14,, +15,, +15,BOWL,SUM,1,0,1,0,0,78,232,0.0 +15,CUP,SUM,1,0,0,1,6,66,40,0.0 +15,SPOON,SUM,0,0,0,0,0,74,46,21.391833066940308 +15,,SUM,2,0,1,1,6,218,318,21.391833066940308 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,20,20,13.511343002319336 +16,CUP,SUM,1,0,0,1,2,45,37,0.0 +16,SPOON,SUM,0,0,0,0,6,80,0,17.74116611480713 +16,,SUM,1,0,0,1,8,145,57,31.252509117126465 +16,, +17,, +17,BOWL,SUM,0,0,0,0,0,22,17,16.6842520236969 +17,CUP,SUM,1,0,0,1,2,66,41,0.0 +17,SPOON,SUM,0,0,0,0,0,22,8,14.946760892868042 +17,,SUM,1,0,0,1,2,110,66,31.63101291656494 +17,, +18,, +18,BOWL,SUM,0,0,0,0,0,36,22,17.378777027130127 +18,CUP,SUM,1,0,0,1,0,66,74,0.0 +18,SPOON,SUM,1,0,1,0,0,68,262,0.0 +18,,SUM,2,0,1,1,0,170,358,17.378777027130127 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,34,65,22.890525102615356 +19,CUP,SUM,1,0,0,1,0,65,33,0.0 +19,SPOON,SUM,0,0,0,0,0,88,0,16.763510942459106 +19,,SUM,1,0,0,1,0,187,98,39.65403604507446 +19,, +20,, +20,BOWL,SUM,0,0,0,0,16,93,8,20.206965923309326 +20,CUP,SUM,0,0,0,0,6,56,12,13.054638862609863 +20,SPOON,SUM,0,0,0,0,0,101,0,16.832061052322388 +20,,SUM,0,0,0,0,22,250,20,50.09366583824158 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,36,63,23.55027413368225 +21,CUP,SUM,0,0,0,0,0,40,13,10.886108160018921 +21,SPOON,SUM,0,0,0,0,2,22,0,15.121342182159424 +21,,SUM,0,0,0,0,2,98,76,49.557724475860596 +21,, +22,, +22,BOWL,SUM,1,0,1,0,2,29,232,0.0 +22,CUP,SUM,1,0,0,1,0,53,43,0.0 +22,SPOON,SUM,1,0,1,0,0,43,266,0.0 +22,,SUM,3,0,2,1,2,125,541,0.0 +22,, +23,, +23,BOWL,SUM,0,0,0,0,2,21,48,17.170672178268433 +23,CUP,SUM,1,0,0,1,0,69,57,0.0 +23,SPOON,SUM,0,0,0,0,0,22,0,14.18461799621582 +23,,SUM,1,0,0,1,2,112,105,31.355290174484253 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,38,17,17.466737985610962 +24,CUP,SUM,0,0,0,0,24,45,15,21.318993091583252 +24,SPOON,SUM,0,0,0,0,6,6,0,16.20119285583496 +24,,SUM,0,0,0,0,30,89,32,54.986923933029175 +24,, +25,, +25,BOWL,SUM,0,0,0,0,0,36,0,11.545326948165894 +25,CUP,SUM,1,0,0,1,0,69,31,0.0 +25,SPOON,SUM,0,0,0,0,2,3,0,14.808840990066528 +25,,SUM,1,0,0,1,2,108,31,26.354167938232422 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,20,65,22.586976051330566 +26,CUP,SUM,1,0,0,1,6,54,52,0.0 +26,SPOON,SUM,0,0,0,0,6,97,10,20.3873610496521 +26,,SUM,1,0,0,1,12,171,127,42.974337100982666 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,48,0,12.046146869659424 +27,CUP,SUM,0,0,0,0,0,40,30,13.688601016998291 +27,SPOON,SUM,1,0,1,0,0,103,248,0.0 +27,,SUM,1,0,1,0,0,191,278,25.734747886657715 +27,, +28,, +28,BOWL,SUM,1,0,1,0,0,91,238,0.0 +28,CUP,SUM,0,0,0,0,0,57,173,30.26504683494568 +28,SPOON,SUM,0,0,0,0,0,105,8,17.941864013671875 +28,,SUM,1,0,1,0,0,253,419,48.206910848617554 +28,, +29,, +29,BOWL,SUM,1,0,1,0,0,143,230,0.0 +29,CUP,SUM,0,0,0,0,0,32,4,10.309964895248413 +29,SPOON,SUM,1,0,1,0,0,32,272,0.0 +29,,SUM,2,0,2,0,0,207,506,10.309964895248413 +29,, +30,, +30,BOWL,SUM,0,0,0,0,2,77,0,13.830183029174805 +30,CUP,SUM,1,0,0,1,0,69,49,0.0 +30,SPOON,SUM,0,0,0,0,0,105,10,19.023472785949707 +30,,SUM,1,0,0,1,2,251,59,32.85365581512451 +30,, +31,, +31,BOWL,SUM,0,0,0,0,26,36,10,22.667927026748657 +31,CUP,SUM,1,0,0,1,0,65,37,0.0 +31,SPOON,SUM,0,0,0,0,0,92,0,16.568936824798584 +31,,SUM,1,0,0,1,26,193,47,39.23686385154724 +31,, +32,, +32,BOWL,SUM,1,0,1,0,0,100,234,0.0 +32,CUP,SUM,1,0,0,1,0,44,83,0.0 +32,SPOON,SUM,0,0,0,0,0,18,0,14.266849040985107 +32,,SUM,2,0,1,1,0,162,317,14.266849040985107 +32,, +33,, +33,BOWL,SUM,0,0,0,0,0,96,0,13.595016956329346 +33,CUP,SUM,1,0,0,1,2,77,35,0.0 +33,SPOON,SUM,0,0,0,0,0,3,0,14.245841979980469 +33,,SUM,1,0,0,1,2,176,35,27.840858936309814 +33,, +34,, +34,BOWL,SUM,1,0,1,0,0,71,221,0.0 +34,CUP,SUM,1,0,0,1,6,55,37,0.0 +34,SPOON,SUM,0,0,0,0,8,115,0,21.799736976623535 +34,,SUM,2,0,1,1,14,241,258,21.799736976623535 +34,, +35,, +35,BOWL,SUM,0,0,0,0,2,86,8,14.486915826797485 +35,CUP,SUM,0,0,0,0,0,40,4,10.595621109008789 +35,SPOON,SUM,0,0,0,0,0,33,120,28.786909818649292 +35,,SUM,0,0,0,0,2,159,132,53.869446754455566 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,36,0,11.817192077636719 +36,CUP,SUM,0,0,0,0,0,56,2,10.72225308418274 +36,SPOON,SUM,0,0,0,0,0,18,0,14.71161699295044 +36,,SUM,0,0,0,0,0,110,2,37.2510621547699 +36,, +37,, +37,BOWL,SUM,0,0,0,0,2,52,0,12.990692138671875 +37,CUP,SUM,0,0,0,0,0,54,163,28.19304609298706 +37,SPOON,SUM,0,0,0,0,0,33,118,28.2510769367218 +37,,SUM,0,0,0,0,2,139,281,69.43481516838074 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,40,0,11.80062484741211 +38,CUP,SUM,1,0,0,1,0,69,37,0.0 +38,SPOON,SUM,0,0,0,0,0,3,0,14.092453002929688 +38,,SUM,1,0,0,1,0,112,37,25.893077850341797 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,36,0,12.44455099105835 +39,CUP,SUM,1,0,0,1,0,44,47,0.0 +39,SPOON,SUM,0,0,0,0,6,25,0,17.13574194908142 +39,,SUM,1,0,0,1,6,105,47,29.58029294013977 +39,, +40,, +40,BOWL,SUM,0,0,0,0,2,34,65,24.467114210128784 +40,CUP,SUM,0,0,0,0,0,49,25,13.492897033691406 +40,SPOON,SUM,0,0,0,0,0,10,8,15.056965827941895 +40,,SUM,0,0,0,0,2,93,98,53.016977071762085 +40,, +41,, +41,BOWL,SUM,1,0,1,0,0,35,238,0.0 +41,CUP,SUM,0,0,0,0,0,56,12,12.153218984603882 +41,SPOON,SUM,0,0,0,0,6,104,0,19.127753019332886 +41,,SUM,1,0,1,0,6,195,250,31.280972003936768 +41,, +42,, +42,BOWL,SUM,0,0,0,0,2,50,17,18.77162790298462 +42,CUP,SUM,1,0,0,1,0,77,31,0.0 +42,SPOON,SUM,0,0,0,0,0,1,0,14.357855081558228 +42,,SUM,1,0,0,1,2,128,48,33.12948298454285 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,87,0,13.440325021743774 +43,CUP,SUM,1,0,0,1,0,51,70,0.0 +43,SPOON,SUM,0,0,0,0,0,14,0,14.58950400352478 +43,,SUM,1,0,0,1,0,152,70,28.029829025268555 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,33,26,14.921911001205444 +44,CUP,SUM,0,0,0,0,0,48,21,17.5012629032135 +44,SPOON,SUM,0,0,0,0,0,2,0,14.591640949249268 +44,,SUM,0,0,0,0,0,83,47,47.01481485366821 +44,, +45,, +45,BOWL,SUM,0,0,0,0,0,52,0,12.367412090301514 +45,CUP,SUM,1,0,0,1,0,41,72,0.0 +45,SPOON,SUM,0,0,0,0,0,92,8,18.327471017837524 +45,,SUM,1,0,0,1,0,185,80,30.694883108139038 +45,, +46,, +46,BOWL,SUM,1,0,1,0,0,44,238,0.0 +46,CUP,SUM,1,0,0,1,0,65,31,0.0 +46,SPOON,SUM,0,0,0,0,0,29,8,15.485043048858643 +46,,SUM,2,0,1,1,0,138,277,15.485043048858643 +46,, +47,, +47,BOWL,SUM,1,0,1,0,0,71,116,0.0 +47,CUP,SUM,1,0,0,1,0,58,46,0.0 +47,SPOON,SUM,0,0,0,0,0,22,0,15.239191055297852 +47,,SUM,2,0,1,1,0,151,162,15.239191055297852 +47,, +48,, +48,BOWL,SUM,1,0,1,0,0,94,222,0.0 +48,CUP,SUM,0,0,0,0,2,92,28,22.973546028137207 +48,SPOON,SUM,0,0,0,0,0,18,0,14.587991952896118 +48,,SUM,1,0,1,0,2,204,250,37.561537981033325 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,102,8,14.32240605354309 +49,CUP,SUM,1,0,0,1,0,53,57,0.0 +49,SPOON,SUM,0,0,0,0,0,72,8,18.256962060928345 +49,,SUM,1,0,0,1,0,227,73,32.579368114471436 +49,, +50,, +50,BOWL,SUM,1,0,1,0,0,47,238,0.0 +50,CUP,SUM,1,0,0,1,0,65,48,0.0 +50,SPOON,SUM,0,0,0,0,2,10,0,14.931658029556274 +50,,SUM,2,0,1,1,2,122,286,14.931658029556274 +50,, +51,, +51,BOWL,SUM,1,0,1,0,0,100,244,0.0 +51,CUP,SUM,0,0,0,0,0,19,102,25.677068948745728 +51,SPOON,SUM,0,0,0,0,0,101,0,17.479673147201538 +51,,SUM,1,0,1,0,0,220,346,43.156742095947266 +51,, +52,, +52,BOWL,SUM,1,0,1,0,0,34,236,0.0 +52,CUP,SUM,0,0,0,0,2,52,84,25.62704300880432 +52,SPOON,SUM,0,0,0,0,0,2,0,14.033491134643555 +52,,SUM,1,0,1,0,2,88,320,39.660534143447876 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,98,0,13.700548887252808 +53,CUP,SUM,1,0,0,1,6,62,53,0.0 +53,SPOON,SUM,0,0,0,0,2,3,0,14.508647203445435 +53,,SUM,1,0,0,1,8,163,53,28.209196090698242 +53,, +54,, +54,BOWL,SUM,1,0,1,0,0,32,236,0.0 +54,CUP,SUM,0,0,0,0,0,61,73,26.580270051956177 +54,SPOON,SUM,0,0,0,0,0,21,0,14.840748071670532 +54,,SUM,1,0,1,0,0,114,309,41.42101812362671 +54,, +55,, +55,BOWL,SUM,0,0,0,0,2,99,0,14.082261085510254 +55,CUP,SUM,0,0,0,0,2,44,0,10.488173007965088 +55,SPOON,SUM,1,0,1,0,6,130,270,0.0 +55,,SUM,1,0,1,0,10,273,270,24.570434093475342 +55,, +56,, +56,BOWL,SUM,0,0,0,0,2,86,4,14.76797080039978 +56,CUP,SUM,0,0,0,0,0,57,12,11.766807079315186 +56,SPOON,SUM,1,0,1,0,6,32,266,0.0 +56,,SUM,1,0,1,0,8,175,282,26.534777879714966 +56,, +57,, +57,BOWL,SUM,1,0,1,0,0,46,236,0.0 +57,CUP,SUM,1,0,0,1,0,85,48,0.0 +57,SPOON,SUM,0,0,0,0,0,97,8,17.576595067977905 +57,,SUM,2,0,1,1,0,228,292,17.576595067977905 +57,, +58,, +58,BOWL,SUM,0,0,0,0,30,27,78,33.052239179611206 +58,CUP,SUM,0,0,0,0,0,44,14,12.192764043807983 +58,SPOON,SUM,0,0,0,0,0,38,102,27.500341176986694 +58,,SUM,0,0,0,0,30,109,194,72.74534440040588 +58,, +59,, +59,BOWL,SUM,1,0,1,0,0,29,242,0.0 +59,CUP,SUM,1,0,0,1,2,53,35,0.0 +59,SPOON,SUM,0,0,0,0,2,18,0,15.624504089355469 +59,,SUM,2,0,1,1,4,100,277,15.624504089355469 +59,, +60,, +60,BOWL,SUM,0,0,0,0,0,36,36,17.55026078224182 +60,CUP,SUM,1,0,0,1,0,65,39,0.0 +60,SPOON,SUM,0,0,0,0,10,21,0,19.3732271194458 +60,,SUM,1,0,0,1,10,122,75,36.92348790168762 +60,, +61,, +61,BOWL,SUM,0,0,0,0,0,99,0,13.898867130279541 +61,CUP,SUM,1,0,1,0,0,85,254,0.0 +61,SPOON,SUM,0,0,0,0,0,88,0,16.754807233810425 +61,,SUM,1,0,1,0,0,272,254,30.653674364089966 +61,, +62,, +62,BOWL,SUM,0,0,0,0,2,82,6,14.68930196762085 +62,CUP,SUM,0,0,0,0,0,44,2,10.443286895751953 +62,SPOON,SUM,0,0,0,0,0,15,38,18.65212106704712 +62,,SUM,0,0,0,0,2,141,46,43.78470993041992 +62,, +63,, +63,BOWL,SUM,0,0,0,0,6,32,155,37.29387283325195 +63,CUP,SUM,1,0,0,1,0,42,37,0.0 +63,SPOON,SUM,0,0,0,0,0,22,0,14.726125955581665 +63,,SUM,1,0,0,1,6,96,192,52.01999878883362 +63,, +64,, +64,BOWL,SUM,0,0,0,0,0,96,8,14.3942289352417 +64,CUP,SUM,1,0,0,1,0,61,34,0.0 +64,SPOON,SUM,0,0,0,0,2,22,0,15.588793992996216 +64,,SUM,1,0,0,1,2,179,42,29.983022928237915 +64,, +65,, +65,BOWL,SUM,0,0,0,0,0,36,17,17.995599031448364 +65,CUP,SUM,1,0,0,1,0,57,63,0.0 +65,SPOON,SUM,0,0,0,0,0,18,0,14.93647289276123 +65,,SUM,1,0,0,1,0,111,80,32.932071924209595 +65,, +66,, +66,BOWL,SUM,0,0,0,0,0,36,44,17.293447971343994 +66,CUP,SUM,0,0,0,0,0,32,0,9.949816942214966 +66,SPOON,SUM,0,0,0,0,0,10,0,14.659662008285522 +66,,SUM,0,0,0,0,0,78,44,41.90292692184448 +66,, +67,, +67,BOWL,SUM,1,0,1,0,0,66,230,0.0 +67,CUP,SUM,0,0,0,0,0,48,14,11.51604413986206 +67,SPOON,SUM,1,0,1,0,0,31,262,0.0 +67,,SUM,2,0,2,0,0,145,506,11.51604413986206 +67,, +68,, +68,BOWL,SUM,0,0,0,0,0,32,20,15.03836703300476 +68,CUP,SUM,0,0,0,0,0,44,2,10.658491134643555 +68,SPOON,SUM,1,0,1,0,0,68,262,0.0 +68,,SUM,1,0,1,0,0,144,284,25.696858167648315 +68,, +69,, +69,BOWL,SUM,0,0,0,0,0,39,0,12.490968942642212 +69,CUP,SUM,1,0,0,1,2,72,59,0.0 +69,SPOON,SUM,0,0,0,0,0,17,0,14.645533084869385 +69,,SUM,1,0,0,1,2,128,59,27.136502027511597 +69,, +70,, +70,BOWL,SUM,1,0,1,0,0,92,236,0.0 +70,CUP,SUM,0,0,0,0,2,55,183,37.87787389755249 +70,SPOON,SUM,0,0,0,0,0,59,42,21.98802614212036 +70,,SUM,1,0,1,0,2,206,461,59.86590003967285 +70,, +71,, +71,BOWL,SUM,1,0,1,0,0,42,236,0.0 +71,CUP,SUM,0,0,0,0,0,16,98,25.88969588279724 +71,SPOON,SUM,0,0,0,0,0,7,0,15.298167943954468 +71,,SUM,1,0,1,0,0,65,334,41.18786382675171 +71,, +72,, +72,BOWL,SUM,0,0,0,0,0,79,28,17.16304302215576 +72,CUP,SUM,0,0,0,0,0,50,12,11.45619797706604 +72,SPOON,SUM,0,0,0,0,0,105,8,18.358808040618896 +72,,SUM,0,0,0,0,0,234,48,46.9780490398407 +72,, +73,, +73,BOWL,SUM,1,1,0,0,96,16,0,0.0 +73,CUP,SUM,0,0,0,0,0,53,4,11.050064086914063 +73,SPOON,SUM,0,0,0,0,0,112,54,24.202441930770874 +73,,SUM,1,1,0,0,96,181,58,35.25250601768494 +73,, +74,, +74,BOWL,SUM,0,0,0,0,2,87,48,19.956938982009888 +74,CUP,SUM,0,0,0,0,0,41,57,23.694206953048706 +74,SPOON,SUM,1,0,1,0,0,68,260,0.0 +74,,SUM,1,0,1,0,2,196,365,43.651145935058594 +74,, +75,, +75,BOWL,SUM,0,0,0,0,2,31,120,27.98080587387085 +75,CUP,SUM,0,0,0,0,0,60,0,10.5399010181427 +75,SPOON,SUM,0,0,0,0,2,100,10,20.512478828430176 +75,,SUM,0,0,0,0,4,191,130,59.033185720443726 +75,, +76,, +76,BOWL,SUM,0,0,0,0,0,35,8,12.405262231826782 +76,CUP,SUM,1,0,0,1,0,73,37,0.0 +76,SPOON,SUM,0,0,0,0,0,22,0,14.57924199104309 +76,,SUM,1,0,0,1,0,130,45,26.984504222869873 +76,, +77,, +77,BOWL,SUM,0,0,0,0,2,16,22,15.00106692314148 +77,CUP,SUM,0,0,0,0,0,32,2,10.10503602027893 +77,SPOON,SUM,1,0,1,0,0,192,246,0.0 +77,,SUM,1,0,1,0,2,240,270,25.10610294342041 +77,, +78,, +78,BOWL,SUM,0,0,0,0,0,83,0,13.60299015045166 +78,CUP,SUM,0,0,0,0,26,49,38,25.765172004699707 +78,SPOON,SUM,0,0,0,0,0,109,0,18.04239296913147 +78,,SUM,0,0,0,0,26,241,38,57.41055512428284 +78,, +79,, +79,BOWL,SUM,0,0,0,0,30,40,17,30.572077989578247 +79,CUP,SUM,1,0,0,1,0,61,31,0.0 +79,SPOON,SUM,0,0,0,0,0,97,10,20.160399913787842 +79,,SUM,1,0,0,1,30,198,58,50.73247790336609 +79,, +80,, +80,BOWL,SUM,0,0,0,0,0,43,76,21.758015155792236 +80,CUP,SUM,1,0,0,1,0,57,55,0.0 +80,SPOON,SUM,0,0,0,0,0,112,0,17.79331111907959 +80,,SUM,1,0,0,1,0,212,131,39.551326274871826 +80,, +81,, +81,BOWL,SUM,0,0,0,0,0,86,6,14.982609033584595 +81,CUP,SUM,0,0,0,0,0,52,20,17.464035987854004 +81,SPOON,SUM,0,0,0,0,2,37,0,15.9374520778656 +81,,SUM,0,0,0,0,2,175,26,48.3840970993042 +81,, +82,, +82,BOWL,SUM,0,0,0,0,0,83,0,13.185793161392212 +82,CUP,SUM,1,0,0,1,0,82,33,0.0 +82,SPOON,SUM,1,0,1,0,0,69,264,0.0 +82,,SUM,2,0,1,1,0,234,297,13.185793161392212 +82,, +83,, +83,BOWL,SUM,1,0,1,0,0,94,236,0.0 +83,CUP,SUM,1,0,0,1,2,57,78,0.0 +83,SPOON,SUM,0,0,0,0,24,29,0,25.882503986358643 +83,,SUM,2,0,1,1,26,180,314,25.882503986358643 +83,, +84,, +84,BOWL,SUM,0,0,0,0,0,101,0,14.431771039962769 +84,CUP,SUM,1,0,0,1,0,65,51,0.0 +84,SPOON,SUM,0,0,0,0,0,18,0,15.195955038070679 +84,,SUM,1,0,0,1,0,184,51,29.627726078033447 +84,, +85,, +85,BOWL,SUM,0,0,0,0,0,99,0,13.769626140594482 +85,CUP,SUM,0,0,0,0,0,49,2,10.46192717552185 +85,SPOON,SUM,0,0,0,0,0,2,5,15.01855993270874 +85,,SUM,0,0,0,0,0,150,7,39.25011324882507 +85,, +86,, +86,BOWL,SUM,0,0,0,0,2,82,8,15.425251960754395 +86,CUP,SUM,0,0,0,0,0,33,34,13.562381982803345 +86,SPOON,SUM,0,0,0,0,0,97,0,17.59678292274475 +86,,SUM,0,0,0,0,2,212,42,46.58441686630249 +86,, +87,, +87,BOWL,SUM,0,0,0,0,0,49,17,18.026959896087646 +87,CUP,SUM,1,0,0,1,0,53,73,0.0 +87,SPOON,SUM,0,0,0,0,0,92,0,17.387397050857544 +87,,SUM,1,0,0,1,0,194,90,35.41435694694519 +87,, +88,, +88,BOWL,SUM,0,0,0,0,0,87,4,14.6058030128479 +88,CUP,SUM,0,0,0,0,0,45,3,10.54731822013855 +88,SPOON,SUM,0,0,0,0,0,18,0,14.998594045639038 +88,,SUM,0,0,0,0,0,150,7,40.15171527862549 +88,, +89,, +89,BOWL,SUM,0,0,0,0,0,25,0,11.523506164550781 +89,CUP,SUM,0,0,0,0,0,56,10,11.489734888076782 +89,SPOON,SUM,1,0,1,0,0,67,260,0.0 +89,,SUM,1,0,1,0,0,148,270,23.013241052627563 +89,, +90,, +90,BOWL,SUM,0,0,0,0,0,48,10,12.972724199295044 +90,CUP,SUM,0,0,0,0,0,45,174,30.860038995742798 +90,SPOON,SUM,0,0,0,0,0,22,0,15.138828992843628 +90,,SUM,0,0,0,0,0,115,184,58.97159218788147 +90,, +91,, +91,BOWL,SUM,1,0,1,0,0,48,242,0.0 +91,CUP,SUM,1,0,0,1,2,62,83,0.0 +91,SPOON,SUM,0,0,0,0,0,21,0,15.270711898803711 +91,,SUM,2,0,1,1,2,131,325,15.270711898803711 +91,, +92,, +92,BOWL,SUM,1,1,0,0,96,8,0,0.0 +92,CUP,SUM,0,0,0,0,6,40,100,28.818535089492798 +92,SPOON,SUM,0,0,0,0,0,2,0,14.678977966308594 +92,,SUM,1,1,0,0,102,50,100,43.49751305580139 +92,, +93,, +93,BOWL,SUM,0,0,0,0,0,24,46,17.464452981948853 +93,CUP,SUM,1,0,0,1,0,53,47,0.0 +93,SPOON,SUM,0,0,0,0,0,88,0,17.689839839935303 +93,,SUM,1,0,0,1,0,165,93,35.154292821884155 +93,, +94,, +94,BOWL,SUM,0,0,0,0,0,87,10,14.684875011444092 +94,CUP,SUM,0,0,0,0,0,42,50,22.98409605026245 +94,SPOON,SUM,0,0,0,0,0,22,0,15.186621904373169 +94,,SUM,0,0,0,0,0,151,60,52.85559296607971 +94,, +95,, +95,BOWL,SUM,0,0,0,0,0,39,76,23.280404090881348 +95,CUP,SUM,0,0,0,0,30,71,233,57.42542815208435 +95,SPOON,SUM,1,1,0,0,96,8,0,0.0 +95,,SUM,1,1,0,0,126,118,309,80.7058322429657 +95,, +96,, +96,BOWL,SUM,0,0,0,0,0,85,0,14.020886182785034 +96,CUP,SUM,0,0,0,0,10,32,0,14.67508602142334 +96,SPOON,SUM,0,0,0,0,0,18,0,15.124452114105225 +96,,SUM,0,0,0,0,10,135,0,43.8204243183136 +96,, +97,, +97,BOWL,SUM,0,0,0,0,2,48,151,37.225534200668335 +97,CUP,SUM,1,0,0,1,0,57,89,0.0 +97,SPOON,SUM,0,0,0,0,0,7,6,15.026737928390503 +97,,SUM,1,0,0,1,2,112,246,52.25227212905884 +97,, +98,, +98,BOWL,SUM,0,0,0,0,0,46,0,12.403836011886597 +98,CUP,SUM,1,0,0,1,0,53,40,0.0 +98,SPOON,SUM,0,0,0,0,0,97,0,17.372257947921753 +98,,SUM,1,0,0,1,0,196,40,29.77609395980835 +98,, +99,, +99,BOWL,SUM,1,0,1,0,0,47,242,0.0 +99,CUP,SUM,0,0,0,0,24,40,34,24.948526859283447 +99,SPOON,SUM,0,0,0,0,0,22,0,15.104212045669556 +99,,SUM,1,0,1,0,24,109,276,40.052738904953 +99,, +100,, +100,BOWL,SUM,0,0,0,0,0,36,0,12.564931869506836 +100,CUP,SUM,0,0,0,0,6,44,10,13.895468950271606 +100,SPOON,SUM,1,0,1,0,0,73,270,0.0 +100,,SUM,1,0,1,0,6,153,280,26.460400819778442 +100,, +101,, +101,BOWL,SUM,0,0,0,0,0,24,48,17.708024978637695 +101,CUP,SUM,1,0,0,1,0,41,33,0.0 +101,SPOON,SUM,0,0,0,0,0,33,130,29.794435024261475 +101,,SUM,1,0,0,1,0,98,211,47.50246000289917 +101,, +102,, +102,BOWL,SUM,0,0,0,0,0,87,8,15.223083972930908 +102,CUP,SUM,1,0,0,1,0,57,71,0.0 +102,SPOON,SUM,1,0,1,0,0,67,258,0.0 +102,,SUM,2,0,1,1,0,211,337,15.223083972930908 +102,, +103,, +103,BOWL,SUM,1,1,0,0,96,17,0,0.0 +103,CUP,SUM,0,0,0,0,0,53,89,28.53434109687805 +103,SPOON,SUM,0,0,0,0,0,3,0,14.80128002166748 +103,,SUM,1,1,0,0,96,73,89,43.33562111854553 +103,, +104,, +104,BOWL,SUM,0,0,0,0,2,96,0,14.598150968551636 +104,CUP,SUM,0,0,0,0,0,32,0,10.33796501159668 +104,SPOON,SUM,1,0,1,0,0,46,264,0.0 +104,,SUM,1,0,1,0,2,174,264,24.936115980148315 +104,, +105,, +105,BOWL,SUM,0,0,0,0,2,32,24,15.799131870269775 +105,CUP,SUM,0,0,0,0,0,53,0,11.243932962417603 +105,SPOON,SUM,0,0,0,0,0,92,0,17.121459007263184 +105,,SUM,0,0,0,0,2,177,24,44.16452383995056 +105,, +106,, +106,BOWL,SUM,0,0,0,0,0,39,130,28.269355058670044 +106,CUP,SUM,0,0,0,0,0,49,73,22.89237403869629 +106,SPOON,SUM,0,0,0,0,0,104,54,23.72048592567444 +106,,SUM,0,0,0,0,0,192,257,74.88221502304077 +106,, +107,, +107,BOWL,SUM,0,0,0,0,0,32,0,12.12824296951294 +107,CUP,SUM,0,0,0,0,0,45,196,38.889707803726196 +107,SPOON,SUM,0,0,0,0,0,101,0,17.37805700302124 +107,,SUM,0,0,0,0,0,178,196,68.39600777626038 +107,, +108,, +108,BOWL,SUM,1,0,1,0,0,49,232,0.0 +108,CUP,SUM,1,0,0,1,0,57,63,0.0 +108,SPOON,SUM,1,0,1,0,0,76,266,0.0 +108,,SUM,3,0,2,1,0,182,561,0.0 +108,, +109,, +109,BOWL,SUM,0,0,0,0,0,39,0,12.60002589225769 +109,CUP,SUM,0,0,0,0,0,33,18,11.993312120437622 +109,SPOON,SUM,0,0,0,0,0,92,10,17.54768991470337 +109,,SUM,0,0,0,0,0,164,28,42.14102792739868 +109,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv new file mode 100644 index 0000000000..2e6e17828e --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv @@ -0,0 +1,388 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +11,, +11,BOWL,SUM,0,0,0,0,2,32,0,43.31655406951904 +11,CUP,SUM,1,0,0,1,0,28,41,0.0 +11,SPOON,SUM,1,0,1,0,0,43,142,0.0 +11,,SUM,2,0,1,1,2,103,183,43.31655406951904 +11,, +12,, +12,BOWL,SUM,1,0,1,0,2,46,136,0.0 +12,CUP,SUM,0,0,0,0,0,40,56,55.44802904129028 +12,SPOON,SUM,1,0,1,0,2,60,144,0.0 +12,,SUM,2,0,2,0,4,146,336,55.44802904129028 +12,, +13,, +13,BOWL,SUM,0,0,0,0,0,47,124,56.13776397705078 +13,CUP,SUM,0,0,0,0,0,48,4,43.54955697059631 +13,SPOON,SUM,0,0,0,0,0,22,0,45.32140493392944 +13,,SUM,0,0,0,0,0,117,128,145.00872588157654 +13,, +14,, +14,BOWL,SUM,1,0,1,0,0,149,0,0.0 +14,CUP,SUM,1,0,0,1,0,28,37,0.0 +14,SPOON,SUM,1,0,1,0,2,133,0,0.0 +14,,SUM,3,0,2,1,2,310,37,0.0 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,20,26,43.56710386276245 +15,CUP,SUM,1,0,0,1,0,22,77,0.0 +15,SPOON,SUM,1,0,1,0,0,133,0,0.0 +15,,SUM,2,0,1,1,0,175,103,43.56710386276245 +15,, +16,, +16,BOWL,SUM,1,0,1,0,0,136,0,0.0 +16,CUP,SUM,0,0,0,0,2,52,22,50.95332407951355 +16,SPOON,SUM,0,0,0,0,0,21,0,45.95514702796936 +16,,SUM,1,0,1,0,2,209,22,96.90847110748291 +16,, +17,, +17,BOWL,SUM,0,0,0,0,0,20,61,51.61315703392029 +17,CUP,SUM,0,0,0,0,2,16,99,58.10156488418579 +17,SPOON,SUM,1,0,1,0,2,140,0,0.0 +17,,SUM,1,0,1,0,4,176,160,109.71472191810608 +17,, +18,, +18,BOWL,SUM,0,0,0,0,0,37,56,47.19731903076172 +18,CUP,SUM,0,0,0,0,0,48,12,44.22274684906006 +18,SPOON,SUM,1,0,1,0,0,133,0,0.0 +18,,SUM,1,0,1,0,0,218,68,91.42006587982178 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,36,48,46.937734842300415 +19,CUP,SUM,0,0,0,0,0,34,0,43.36917996406555 +19,SPOON,SUM,1,0,1,0,0,133,0,0.0 +19,,SUM,1,0,1,0,0,203,48,90.30691480636597 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,20,52,47.19583702087402 +20,CUP,SUM,0,0,0,0,0,28,4,43.07179403305054 +20,SPOON,SUM,1,0,1,0,0,140,0,0.0 +20,,SUM,1,0,1,0,0,188,56,90.26763105392456 +20,, +21,, +21,BOWL,SUM,1,0,1,0,0,54,130,0.0 +21,CUP,SUM,1,0,1,0,0,23,148,0.0 +21,SPOON,SUM,0,0,0,0,2,2,0,46.81800293922424 +21,,SUM,2,0,2,0,2,79,278,46.81800293922424 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,17,18,43.42947697639465 +22,CUP,SUM,0,0,0,0,0,54,64,66.09470796585083 +22,SPOON,SUM,1,0,1,0,0,133,0,0.0 +22,,SUM,1,0,1,0,0,204,82,109.52418494224548 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,32,22,53.49406099319458 +23,CUP,SUM,0,0,0,0,0,45,14,45.24891781806946 +23,SPOON,SUM,1,0,1,0,0,115,134,0.0 +23,,SUM,1,0,1,0,0,192,170,98.74297881126404 +23,, +24,, +24,BOWL,SUM,1,0,1,0,0,136,0,0.0 +24,CUP,SUM,0,0,0,0,0,36,10,45.05044889450073 +24,SPOON,SUM,1,0,1,0,0,31,146,0.0 +24,,SUM,2,0,2,0,0,203,156,45.05044889450073 +24,, +25,, +25,BOWL,SUM,1,0,1,0,0,148,0,0.0 +25,CUP,SUM,1,0,0,1,0,40,25,0.0 +25,SPOON,SUM,0,0,0,0,0,18,0,46.99974584579468 +25,,SUM,2,0,1,1,0,206,25,46.99974584579468 +25,, +26,, +26,BOWL,SUM,0,0,0,0,2,37,21,49.55815100669861 +26,CUP,SUM,0,0,0,0,0,44,0,44.477766036987305 +26,SPOON,SUM,0,0,0,0,0,9,0,46.58562707901001 +26,,SUM,0,0,0,0,2,90,21,140.62154412269592 +26,, +27,, +27,BOWL,SUM,1,0,1,0,0,41,132,0.0 +27,CUP,SUM,1,0,0,1,0,52,46,0.0 +27,SPOON,SUM,0,0,0,0,0,3,0,46.60133695602417 +27,,SUM,2,0,1,1,0,96,178,46.60133695602417 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,32,0,42.78477501869202 +28,CUP,SUM,1,1,0,0,96,0,0,0.0 +28,SPOON,SUM,1,0,1,0,0,132,0,0.0 +28,,SUM,2,1,1,0,96,164,0,42.78477501869202 +28,, +29,, +29,BOWL,SUM,0,0,0,0,0,32,145,63.944583892822266 +29,CUP,SUM,0,0,0,0,0,48,0,44.37712216377258 +29,SPOON,SUM,0,0,0,0,0,2,0,46.94308614730835 +29,,SUM,0,0,0,0,0,82,145,155.2647922039032 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,20,48,47.854305028915405 +30,CUP,SUM,0,0,0,0,0,49,161,68.43028807640076 +30,SPOON,SUM,1,0,1,0,0,133,0,0.0 +30,,SUM,1,0,1,0,0,202,209,116.28459310531616 +30,, +31,, +31,BOWL,SUM,1,0,1,0,0,90,128,0.0 +31,CUP,SUM,1,0,0,1,0,40,99,0.0 +31,SPOON,SUM,1,0,1,0,2,126,136,0.0 +31,,SUM,3,0,2,1,2,256,363,0.0 +31,, +32,, +32,BOWL,SUM,0,0,0,0,2,36,0,43.867998123168945 +32,CUP,SUM,1,0,0,1,0,18,25,0.0 +32,SPOON,SUM,1,0,1,0,0,31,144,0.0 +32,,SUM,2,0,1,1,2,85,169,43.867998123168945 +32,, +33,, +33,BOWL,SUM,0,0,0,0,2,36,0,43.999390840530396 +33,CUP,SUM,0,0,0,0,2,48,10,46.014991998672485 +33,SPOON,SUM,0,0,0,0,0,22,8,48.13180708885193 +33,,SUM,0,0,0,0,4,106,18,138.1461899280548 +33,, +34,, +34,BOWL,SUM,0,0,0,0,0,32,10,43.93228602409363 +34,CUP,SUM,0,0,0,0,0,61,69,58.96983790397644 +34,SPOON,SUM,0,0,0,0,0,22,0,47.58404183387756 +34,,SUM,0,0,0,0,0,115,79,150.48616576194763 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,24,54,48.38676404953003 +35,CUP,SUM,1,0,0,1,0,28,28,0.0 +35,SPOON,SUM,1,0,1,0,6,126,136,0.0 +35,,SUM,2,0,1,1,6,178,218,48.38676404953003 +35,, +36,, +36,BOWL,SUM,1,0,1,0,0,47,134,0.0 +36,CUP,SUM,1,0,0,1,0,40,23,0.0 +36,SPOON,SUM,0,0,0,0,0,4,10,47.494303941726685 +36,,SUM,2,0,1,1,0,91,167,47.494303941726685 +36,, +37,, +37,BOWL,SUM,1,0,1,0,0,46,136,0.0 +37,CUP,SUM,0,0,0,0,0,28,8,44.70971417427063 +37,SPOON,SUM,0,0,0,0,0,110,56,55.389612913131714 +37,,SUM,1,0,1,0,0,184,200,100.09932708740234 +37,, +38,, +38,BOWL,SUM,1,1,0,0,96,16,0,0.0 +38,CUP,SUM,0,0,0,0,0,32,61,50.68858885765076 +38,SPOON,SUM,0,0,0,0,0,18,0,47.75205993652344 +38,,SUM,1,1,0,0,96,66,61,98.4406487941742 +38,, +39,, +39,BOWL,SUM,1,0,1,0,0,94,118,0.0 +39,CUP,SUM,1,0,0,1,0,16,37,0.0 +39,SPOON,SUM,0,0,0,0,0,2,0,47.20102000236511 +39,,SUM,2,0,1,1,0,112,155,47.20102000236511 +39,, +40,, +40,BOWL,SUM,0,0,0,0,0,53,0,44.14031910896301 +40,CUP,SUM,0,0,0,0,6,56,124,67.7582278251648 +40,SPOON,SUM,0,0,0,0,0,26,76,56.28542184829712 +40,,SUM,0,0,0,0,6,135,200,168.18396878242493 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,33,28,45.711851835250854 +41,CUP,SUM,1,0,0,1,0,28,23,0.0 +41,SPOON,SUM,0,0,0,0,0,2,0,46.793805837631226 +41,,SUM,1,0,0,1,0,63,51,92.50565767288208 +41,, +42,, +42,BOWL,SUM,1,0,1,0,0,45,132,0.0 +42,CUP,SUM,0,0,0,0,0,44,10,45.34448003768921 +42,SPOON,SUM,1,0,1,0,0,132,0,0.0 +42,,SUM,2,0,2,0,0,221,142,45.34448003768921 +42,, +43,, +43,BOWL,SUM,0,0,0,0,2,36,0,44.324504137039185 +43,CUP,SUM,0,0,0,0,0,19,56,49.63011407852173 +43,SPOON,SUM,0,0,0,0,0,22,0,47.58355402946472 +43,,SUM,0,0,0,0,2,77,56,141.53817224502563 +43,, +44,, +44,BOWL,SUM,0,0,0,0,2,32,26,46.00437092781067 +44,CUP,SUM,1,0,1,0,2,35,149,0.0 +44,SPOON,SUM,1,0,1,0,0,32,144,0.0 +44,,SUM,2,0,2,0,4,99,319,46.00437092781067 +44,, +45,, +45,BOWL,SUM,0,0,0,0,2,32,8,44.161911964416504 +45,CUP,SUM,0,0,0,0,0,42,22,51.70140790939331 +45,SPOON,SUM,0,0,0,0,0,33,126,62.18617105484009 +45,,SUM,0,0,0,0,2,107,156,158.0494909286499 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,33,0,43.9252769947052 +46,CUP,SUM,0,0,0,0,0,64,24,52.879027128219604 +46,SPOON,SUM,0,0,0,0,0,3,0,46.68636393547058 +46,,SUM,0,0,0,0,0,100,24,143.49066805839539 +46,, +47,, +47,BOWL,SUM,0,0,0,0,0,48,0,43.645857095718384 +47,CUP,SUM,0,0,0,0,26,18,98,98.59412813186646 +47,SPOON,SUM,1,0,1,0,0,133,0,0.0 +47,,SUM,1,0,1,0,26,199,98,142.23998522758484 +47,, +48,, +48,BOWL,SUM,0,0,0,0,0,50,17,49.65789198875427 +48,CUP,SUM,1,0,0,1,2,39,63,0.0 +48,SPOON,SUM,1,0,1,0,0,32,146,0.0 +48,,SUM,2,0,1,1,2,121,226,49.65789198875427 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,33,14,44.76584219932556 +49,CUP,SUM,0,0,0,0,0,35,139,60.35520792007446 +49,SPOON,SUM,1,0,1,0,0,133,0,0.0 +49,,SUM,1,0,1,0,0,201,153,105.12105011940002 +49,, +50,, +50,BOWL,SUM,1,0,1,0,0,149,0,0.0 +50,CUP,SUM,0,0,0,0,0,44,14,45.498318910598755 +50,SPOON,SUM,1,0,1,0,0,127,56,0.0 +50,,SUM,2,0,2,0,0,320,70,45.498318910598755 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,32,8,43.84939408302307 +51,CUP,SUM,1,0,0,1,0,16,49,0.0 +51,SPOON,SUM,1,0,1,0,0,115,136,0.0 +51,,SUM,2,0,1,1,0,163,193,43.84939408302307 +51,, +52,, +52,BOWL,SUM,1,0,1,0,0,136,0,0.0 +52,CUP,SUM,1,0,0,1,0,28,37,0.0 +52,SPOON,SUM,1,0,1,0,0,115,134,0.0 +52,,SUM,3,0,2,1,0,279,171,0.0 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,20,73,54.53962302207947 +53,CUP,SUM,1,0,0,1,24,45,39,0.0 +53,SPOON,SUM,1,0,1,0,0,133,0,0.0 +53,,SUM,2,0,1,1,24,198,112,54.53962302207947 +53,, +54,, +54,BOWL,SUM,1,0,1,0,0,49,130,0.0 +54,CUP,SUM,1,0,1,0,0,23,149,0.0 +54,SPOON,SUM,0,0,0,0,0,2,0,47.6634521484375 +54,,SUM,2,0,2,0,0,74,279,47.6634521484375 +54,, +55,, +55,BOWL,SUM,1,1,0,0,96,16,0,0.0 +55,CUP,SUM,1,0,1,0,0,34,149,0.0 +55,SPOON,SUM,1,0,1,0,2,144,0,0.0 +55,,SUM,3,1,2,0,98,194,149,0.0 +55,, +56,, +56,BOWL,SUM,1,0,1,0,2,132,0,0.0 +56,CUP,SUM,0,0,0,0,0,48,10,45.465105056762695 +56,SPOON,SUM,0,0,0,0,0,3,0,46.78769397735596 +56,,SUM,1,0,1,0,2,183,10,92.25279903411865 +56,, +57,, +57,BOWL,SUM,1,0,1,0,0,136,0,0.0 +57,CUP,SUM,1,0,0,1,0,40,23,0.0 +57,SPOON,SUM,0,0,0,0,0,3,0,47.860645055770874 +57,,SUM,2,0,1,1,0,179,23,47.860645055770874 +57,, +58,, +58,BOWL,SUM,1,0,1,0,26,136,0,0.0 +58,CUP,SUM,0,0,0,0,0,44,0,44.59670805931091 +58,SPOON,SUM,1,0,1,0,0,140,0,0.0 +58,,SUM,2,0,2,0,26,320,0,44.59670805931091 +58,, +59,, +59,BOWL,SUM,1,0,1,0,2,148,0,0.0 +59,CUP,SUM,0,0,0,0,0,34,10,45.14448595046997 +59,SPOON,SUM,0,0,0,0,0,3,0,47.70189690589905 +59,,SUM,1,0,1,0,2,185,10,92.84638285636902 +59,, +60,, +60,BOWL,SUM,1,0,1,0,2,132,0,0.0 +60,CUP,SUM,0,0,0,0,2,44,10,46.114728927612305 +60,SPOON,SUM,1,0,1,0,0,140,0,0.0 +60,,SUM,2,0,2,0,4,316,10,46.114728927612305 +60,, +61,, +61,BOWL,SUM,1,0,1,0,0,132,0,0.0 +61,CUP,SUM,0,0,0,0,0,36,13,46.59826588630676 +61,SPOON,SUM,1,0,1,0,0,140,0,0.0 +61,,SUM,2,0,2,0,0,308,13,46.59826588630676 +61,, +62,, +62,BOWL,SUM,0,0,0,0,0,32,0,44.11587405204773 +62,CUP,SUM,0,0,0,0,0,37,63,56.3638870716095 +62,SPOON,SUM,0,0,0,0,14,40,0,62.81273102760315 +62,,SUM,0,0,0,0,14,109,63,163.29249215126038 +62,, +63,, +63,BOWL,SUM,1,0,1,0,0,148,0,0.0 +63,CUP,SUM,0,0,0,0,0,36,8,45.12194108963013 +63,SPOON,SUM,0,0,0,0,0,3,0,47.139415979385376 +63,,SUM,1,0,1,0,0,187,8,92.2613570690155 +63,, +64,, +64,BOWL,SUM,0,0,0,0,0,33,18,44.64124298095703 +64,CUP,SUM,1,0,0,1,0,28,23,0.0 +64,SPOON,SUM,1,0,1,0,0,133,0,0.0 +64,,SUM,2,0,1,1,0,194,41,44.64124298095703 +64,, +65,, +65,BOWL,SUM,0,0,0,0,0,40,0,43.72462487220764 +65,CUP,SUM,1,0,1,0,2,132,0,0.0 +65,SPOON,SUM,0,0,0,0,0,3,0,47.5610568523407 +65,,SUM,1,0,1,0,2,175,0,91.28568172454834 +65,, +66,, +66,BOWL,SUM,1,0,1,0,0,35,132,0.0 +66,CUP,SUM,1,0,1,0,24,24,151,0.0 +66,SPOON,SUM,0,0,0,0,0,4,0,49.127690076828 +66,,SUM,2,0,2,0,24,63,283,49.127690076828 +66,, +67,, +67,BOWL,SUM,0,0,0,0,0,20,63,55.40458297729492 +67,CUP,SUM,1,0,1,0,2,25,148,0.0 +67,SPOON,SUM,0,0,0,0,0,2,0,49.46584606170654 +67,,SUM,1,0,1,0,2,47,211,104.87042903900146 +67,, +68,, +68,BOWL,SUM,1,1,0,0,96,16,0,0.0 +68,CUP,SUM,0,0,0,0,0,44,0,45.52694606781006 +68,SPOON,SUM,0,0,0,0,0,10,8,49.615756034851074 +68,,SUM,1,1,0,0,96,70,8,95.14270210266113 +68,, +69,, +69,BOWL,SUM,1,0,1,0,2,132,0,0.0 +69,CUP,SUM,1,0,0,1,0,28,33,0.0 +69,SPOON,SUM,1,0,1,0,0,127,58,0.0 +69,,SUM,3,0,2,1,2,287,91,0.0 +69,, +70,, +70,BOWL,SUM,1,0,1,0,0,46,134,0.0 +70,CUP,SUM,0,0,0,0,0,64,56,61.025733947753906 +70,SPOON,SUM,1,0,1,0,0,132,0,0.0 +70,,SUM,2,0,2,0,0,242,190,61.025733947753906 +70,, +71,, +71,BOWL,SUM,0,0,0,0,24,20,69,94.17839980125427 +71,CUP,SUM,1,0,0,1,2,16,53,0.0 +71,SPOON,SUM,0,0,0,0,0,22,10,51.485398054122925 +71,,SUM,1,0,0,1,26,58,132,145.6637978553772 +71,, +72,, +72,BOWL,SUM,0,0,0,0,0,36,0,45.01589798927307 +72,CUP,SUM,1,0,0,1,0,28,56,0.0 +72,SPOON,SUM,1,0,1,0,0,20,142,0.0 +72,,SUM,2,0,1,1,0,84,198,45.01589798927307 +72,, +73,, +73,BOWL,SUM,1,0,1,0,0,148,0,0.0 +73,CUP,SUM,1,0,1,0,0,23,149,0.0 +73,SPOON,SUM,0,0,0,0,0,3,0,49.2329740524292 +73,,SUM,2,0,2,0,0,174,149,49.2329740524292 +73,, +74,, +74,BOWL,SUM,1,0,1,0,0,31,130,0.0 +74,CUP,SUM,0,0,0,0,0,53,0,48.51046013832092 +74,SPOON,SUM,1,0,1,0,0,133,0,0.0 +74,,SUM,2,0,2,0,0,217,130,48.51046013832092 +74,, +75,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv new file mode 100644 index 0000000000..9aa1c09eb9 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv @@ -0,0 +1,364 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,1,0,1,0,0,47,64,0.0 +0,CUP,SUM,1,0,0,1,0,52,33,0.0 +0,SPOON,SUM,0,0,0,0,0,10,0,13.415105104446411 +0,,SUM,2,0,1,1,0,109,97,13.415105104446411 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,32,6,12.231854915618896 +1,CUP,SUM,0,0,0,0,0,28,9,9.88990592956543 +1,SPOON,SUM,0,0,0,0,0,5,16,17.717833995819092 +1,,SUM,0,0,0,0,0,65,31,39.83959484100342 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,103,0,12.617761135101318 +2,CUP,SUM,1,0,0,1,0,61,34,0.0 +2,SPOON,SUM,0,0,0,0,0,3,0,12.96301007270813 +2,,SUM,1,0,0,1,0,167,34,25.58077120780945 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,37,12,13.487030982971191 +3,CUP,SUM,0,0,0,0,0,56,38,19.600300073623657 +3,SPOON,SUM,0,0,0,0,0,3,0,13.077866077423096 +3,,SUM,0,0,0,0,0,96,50,46.165197134017944 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,24,29,19.082053899765015 +4,CUP,SUM,1,0,0,1,0,89,35,0.0 +4,SPOON,SUM,0,0,0,0,0,75,0,15.275757789611816 +4,,SUM,1,0,0,1,0,188,64,34.35781168937683 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,33,2,10.713166952133179 +5,CUP,SUM,0,0,0,0,0,48,23,16.69442081451416 +5,SPOON,SUM,1,0,1,0,0,68,60,0.0 +5,,SUM,1,0,1,0,0,149,85,27.40758776664734 +5,, +6,, +6,BOWL,SUM,0,0,0,0,24,39,0,21.065376043319702 +6,CUP,SUM,1,0,1,0,0,66,71,0.0 +6,SPOON,SUM,0,0,0,0,0,3,2,13.577570915222168 +6,,SUM,1,0,1,0,24,108,73,34.64294695854187 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,52,17,16.989073991775513 +7,CUP,SUM,1,0,0,1,2,41,31,0.0 +7,SPOON,SUM,1,0,1,0,0,163,62,0.0 +7,,SUM,2,0,1,1,2,256,110,16.989073991775513 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,24,0,10.680617094039917 +8,CUP,SUM,0,0,0,0,0,40,7,9.520232915878296 +8,SPOON,SUM,0,0,0,0,0,17,0,13.574923992156982 +8,,SUM,0,0,0,0,0,81,7,33.775774002075195 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,20,29,19.029237985610962 +9,CUP,SUM,1,0,0,1,2,53,31,0.0 +9,SPOON,SUM,0,0,0,0,0,3,0,12.987671852111816 +9,,SUM,1,0,0,1,2,76,60,32.01690983772278 +9,, +10,, +10,BOWL,SUM,0,0,0,0,0,24,12,13.379505157470703 +10,CUP,SUM,1,0,0,1,0,41,36,0.0 +10,SPOON,SUM,1,0,1,0,2,32,64,0.0 +10,,SUM,2,0,1,1,2,97,112,13.379505157470703 +10,, +11,, +11,BOWL,SUM,1,1,0,0,96,0,0,0.0 +11,CUP,SUM,1,0,1,0,2,47,70,0.0 +11,SPOON,SUM,0,0,0,0,0,22,0,14.152878999710083 +11,,SUM,2,1,1,0,98,69,70,14.152878999710083 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,36,0,11.217079877853394 +12,CUP,SUM,1,0,0,1,0,41,35,0.0 +12,SPOON,SUM,1,0,1,0,2,47,64,0.0 +12,,SUM,2,0,1,1,2,124,99,11.217079877853394 +12,, +13,, +13,BOWL,SUM,0,0,0,0,6,36,17,18.943902015686035 +13,CUP,SUM,0,0,0,0,0,32,4,9.297257900238037 +13,SPOON,SUM,0,0,0,0,0,3,0,13.561879873275757 +13,,SUM,0,0,0,0,6,71,21,41.80303978919983 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,33,0,10.860093832015991 +14,CUP,SUM,0,0,0,0,0,32,0,8.859317064285278 +14,SPOON,SUM,0,0,0,0,0,2,0,13.6215078830719 +14,,SUM,0,0,0,0,0,67,0,33.34091877937317 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,22,6,11.954593896865845 +15,CUP,SUM,1,0,0,1,0,41,31,0.0 +15,SPOON,SUM,0,0,0,0,0,2,0,13.416066884994507 +15,,SUM,1,0,0,1,0,65,37,25.37066078186035 +15,, +16,, +16,BOWL,SUM,1,0,1,0,24,32,64,0.0 +16,CUP,SUM,0,0,0,0,0,56,25,17.39905595779419 +16,SPOON,SUM,0,0,0,0,0,112,0,16.213447093963623 +16,,SUM,1,0,1,0,24,200,89,33.61250305175781 +16,, +17,, +17,BOWL,SUM,1,0,1,0,2,78,60,0.0 +17,CUP,SUM,1,0,0,1,0,77,31,0.0 +17,SPOON,SUM,0,0,0,0,0,2,0,13.352602005004883 +17,,SUM,2,0,1,1,2,157,91,13.352602005004883 +17,, +18,, +18,BOWL,SUM,0,0,0,0,6,90,2,14.526479959487915 +18,CUP,SUM,0,0,0,0,0,40,27,19.05536198616028 +18,SPOON,SUM,0,0,0,0,2,17,0,14.50536298751831 +18,,SUM,0,0,0,0,8,147,29,48.087204933166504 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,83,0,12.2987220287323 +19,CUP,SUM,1,0,1,0,0,56,71,0.0 +19,SPOON,SUM,1,0,1,0,0,82,60,0.0 +19,,SUM,2,0,2,0,0,221,131,12.2987220287323 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,16,6,11.60657000541687 +20,CUP,SUM,1,0,0,1,0,57,32,0.0 +20,SPOON,SUM,0,0,0,0,0,3,2,13.749728918075562 +20,,SUM,1,0,0,1,0,76,40,25.35629892349243 +20,, +21,, +21,BOWL,SUM,1,1,0,0,96,16,0,0.0 +21,CUP,SUM,0,0,0,0,0,48,8,9.903854131698608 +21,SPOON,SUM,1,0,1,0,0,40,62,0.0 +21,,SUM,2,1,1,0,96,104,70,9.903854131698608 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,82,12,15.384162187576294 +22,CUP,SUM,1,0,0,1,0,49,31,0.0 +22,SPOON,SUM,0,0,0,0,0,10,2,13.962838172912598 +22,,SUM,1,0,0,1,0,141,45,29.34700036048889 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,16,6,11.491940021514893 +23,CUP,SUM,1,0,0,1,0,49,38,0.0 +23,SPOON,SUM,1,1,0,0,80,90,0,0.0 +23,,SUM,2,1,0,1,80,155,44,11.491940021514893 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,82,0,12.454258918762207 +24,CUP,SUM,1,0,0,1,0,65,33,0.0 +24,SPOON,SUM,1,0,1,0,0,69,62,0.0 +24,,SUM,2,0,1,1,0,216,95,12.454258918762207 +24,, +25,, +25,BOWL,SUM,1,0,1,0,0,82,60,0.0 +25,CUP,SUM,1,0,0,1,0,41,38,0.0 +25,SPOON,SUM,0,0,0,0,2,92,2,16.931939840316772 +25,,SUM,2,0,1,1,2,215,100,16.931939840316772 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,107,2,13.114099025726318 +26,CUP,SUM,1,0,0,1,0,65,31,0.0 +26,SPOON,SUM,0,0,0,0,0,22,0,13.753326892852783 +26,,SUM,1,0,0,1,0,194,33,26.8674259185791 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,20,6,11.50190019607544 +27,CUP,SUM,0,0,0,0,0,32,6,9.518908023834229 +27,SPOON,SUM,0,0,0,0,0,97,0,16.16349482536316 +27,,SUM,0,0,0,0,0,149,12,37.18430304527283 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,40,0,11.052951097488403 +28,CUP,SUM,1,0,0,1,0,41,34,0.0 +28,SPOON,SUM,0,0,0,0,2,8,14,17.10754895210266 +28,,SUM,1,0,0,1,2,89,48,28.160500049591064 +28,, +29,, +29,BOWL,SUM,1,0,1,0,0,108,60,0.0 +29,CUP,SUM,1,0,0,1,0,68,35,0.0 +29,SPOON,SUM,0,0,0,0,0,22,0,14.102409839630127 +29,,SUM,2,0,1,1,0,198,95,14.102409839630127 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,36,17,17.022947072982788 +30,CUP,SUM,1,0,0,1,0,57,38,0.0 +30,SPOON,SUM,0,0,0,0,0,101,2,16.06244683265686 +30,,SUM,1,0,0,1,0,194,57,33.08539390563965 +30,, +31,, +31,BOWL,SUM,1,0,1,0,0,91,64,0.0 +31,CUP,SUM,1,0,0,1,2,77,31,0.0 +31,SPOON,SUM,0,0,0,0,0,80,0,15.433933973312378 +31,,SUM,2,0,1,1,2,248,95,15.433933973312378 +31,, +32,, +32,BOWL,SUM,0,0,0,0,0,99,2,12.963030815124512 +32,CUP,SUM,1,0,0,1,0,53,31,0.0 +32,SPOON,SUM,1,0,1,0,0,32,64,0.0 +32,,SUM,2,0,1,1,0,184,97,12.963030815124512 +32,, +33,, +33,BOWL,SUM,0,0,0,0,0,36,0,10.798918008804321 +33,CUP,SUM,1,0,0,1,0,41,38,0.0 +33,SPOON,SUM,1,0,1,0,10,129,58,0.0 +33,,SUM,2,0,1,1,10,206,96,10.798918008804321 +33,, +34,, +34,BOWL,SUM,1,0,1,0,2,31,64,0.0 +34,CUP,SUM,1,0,0,1,0,57,37,0.0 +34,SPOON,SUM,0,0,0,0,0,22,0,14.275883913040161 +34,,SUM,2,0,1,1,2,110,101,14.275883913040161 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,24,29,19.259490966796875 +35,CUP,SUM,0,0,0,0,0,38,1,9.211682796478271 +35,SPOON,SUM,1,0,1,0,2,80,62,0.0 +35,,SUM,1,0,1,0,2,142,92,28.471173763275146 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,86,0,12.674116134643555 +36,CUP,SUM,0,0,0,0,0,53,22,18.92223286628723 +36,SPOON,SUM,0,0,0,0,0,14,0,13.71569013595581 +36,,SUM,0,0,0,0,0,153,22,45.3120391368866 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,31,32,19.04091787338257 +37,CUP,SUM,1,0,0,1,0,55,35,0.0 +37,SPOON,SUM,0,0,0,0,0,18,0,13.594405889511108 +37,,SUM,1,0,0,1,0,104,67,32.63532376289368 +37,, +38,, +38,BOWL,SUM,0,0,0,0,4,28,12,14.885162115097046 +38,CUP,SUM,1,0,0,1,0,65,43,0.0 +38,SPOON,SUM,0,0,0,0,4,100,0,18.026638984680176 +38,,SUM,1,0,0,1,8,193,55,32.91180109977722 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,40,17,16.989887952804565 +39,CUP,SUM,0,0,0,0,0,44,3,9.56008005142212 +39,SPOON,SUM,0,0,0,0,0,2,0,13.524670839309692 +39,,SUM,0,0,0,0,0,86,20,40.07463884353638 +39,, +40,, +40,BOWL,SUM,1,0,1,0,6,41,62,0.0 +40,CUP,SUM,0,0,0,0,0,36,20,18.72303080558777 +40,SPOON,SUM,0,0,0,0,0,69,16,19.572643041610718 +40,,SUM,1,0,1,0,6,146,98,38.295673847198486 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,83,0,12.684002876281738 +41,CUP,SUM,0,0,0,0,0,36,21,18.31109595298767 +41,SPOON,SUM,0,0,0,0,0,29,0,14.140359163284302 +41,,SUM,0,0,0,0,0,148,21,45.13545799255371 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,36,2,11.296402931213379 +42,CUP,SUM,1,0,0,1,0,65,33,0.0 +42,SPOON,SUM,0,0,0,0,0,17,0,13.921118974685669 +42,,SUM,1,0,0,1,0,118,35,25.217521905899048 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,86,0,12.667963981628418 +43,CUP,SUM,1,0,0,1,2,58,31,0.0 +43,SPOON,SUM,1,0,1,0,2,34,64,0.0 +43,,SUM,2,0,1,1,4,178,95,12.667963981628418 +43,, +44,, +44,BOWL,SUM,1,0,1,0,0,27,64,0.0 +44,CUP,SUM,0,0,0,0,0,32,2,9.281927108764648 +44,SPOON,SUM,0,0,0,0,0,104,2,16.45372700691223 +44,,SUM,1,0,1,0,0,163,68,25.73565411567688 +44,, +45,, +45,BOWL,SUM,1,0,1,0,0,79,60,0.0 +45,CUP,SUM,0,0,0,0,2,80,24,18.93107295036316 +45,SPOON,SUM,0,0,0,0,0,4,8,15.374608993530273 +45,,SUM,1,0,1,0,2,163,92,34.30568194389343 +45,, +46,, +46,BOWL,SUM,1,0,1,0,0,139,60,0.0 +46,CUP,SUM,0,0,0,0,2,85,21,18.484158039093018 +46,SPOON,SUM,0,0,0,0,0,21,0,14.450992107391357 +46,,SUM,1,0,1,0,2,245,81,32.935150146484375 +46,, +47,, +47,BOWL,SUM,0,0,0,0,0,98,2,13.89611005783081 +47,CUP,SUM,1,0,0,1,0,55,43,0.0 +47,SPOON,SUM,0,0,0,0,0,4,8,15.650022029876709 +47,,SUM,1,0,0,1,0,157,53,29.54613208770752 +47,, +48,, +48,BOWL,SUM,1,0,1,0,0,78,60,0.0 +48,CUP,SUM,1,0,1,0,4,100,42,0.0 +48,SPOON,SUM,0,0,0,0,0,105,2,17.821485996246338 +48,,SUM,2,0,2,0,4,283,104,17.821485996246338 +48,, +49,, +49,BOWL,SUM,1,0,1,0,0,45,64,0.0 +49,CUP,SUM,1,0,0,1,0,41,31,0.0 +49,SPOON,SUM,0,0,0,0,0,33,28,21.761371850967407 +49,,SUM,2,0,1,1,0,119,123,21.761371850967407 +49,, +50,, +50,BOWL,SUM,0,0,0,0,0,52,17,18.28151297569275 +50,CUP,SUM,0,0,0,0,0,46,37,18.22209405899048 +50,SPOON,SUM,0,0,0,0,0,13,0,14.546411037445068 +50,,SUM,0,0,0,0,0,111,54,51.050018072128296 +50,, +51,, +51,BOWL,SUM,1,1,0,0,96,8,0,0.0 +51,CUP,SUM,0,0,0,0,0,40,9,10.056406021118164 +51,SPOON,SUM,0,0,0,0,0,13,0,13.856178998947144 +51,,SUM,1,1,0,0,96,61,9,23.912585020065308 +51,, +52,, +52,BOWL,SUM,0,0,0,0,0,32,0,11.158025979995728 +52,CUP,SUM,1,0,0,1,0,61,35,0.0 +52,SPOON,SUM,1,0,1,0,0,32,64,0.0 +52,,SUM,2,0,1,1,0,125,99,11.158025979995728 +52,, +53,, +53,BOWL,SUM,0,0,0,0,2,149,2,15.122586965560913 +53,CUP,SUM,1,0,0,1,2,65,33,0.0 +53,SPOON,SUM,0,0,0,0,0,5,16,17.630901098251343 +53,,SUM,1,0,0,1,4,219,51,32.753488063812256 +53,, +54,, +54,BOWL,SUM,0,0,0,0,0,47,0,11.601992130279541 +54,CUP,SUM,1,0,0,1,24,77,35,0.0 +54,SPOON,SUM,0,0,0,0,0,37,0,15.268758058547974 +54,,SUM,1,0,0,1,24,161,35,26.870750188827515 +54,, +55,, +55,BOWL,SUM,0,0,0,0,0,100,2,13.597581148147583 +55,CUP,SUM,1,0,0,1,0,53,33,0.0 +55,SPOON,SUM,0,0,0,0,0,33,0,14.549644947052002 +55,,SUM,1,0,0,1,0,186,35,28.147226095199585 +55,, +56,, +56,BOWL,SUM,0,0,0,0,0,38,18,17.676279067993164 +56,CUP,SUM,0,0,0,0,2,47,20,20.393512964248657 +56,SPOON,SUM,0,0,0,0,2,22,0,15.13015103340149 +56,,SUM,0,0,0,0,4,107,38,53.19994306564331 +56,, +57,, +57,BOWL,SUM,0,0,0,0,0,82,0,13.53011417388916 +57,CUP,SUM,1,0,0,1,2,65,33,0.0 +57,SPOON,SUM,0,0,0,0,0,105,0,16.60490393638611 +57,,SUM,1,0,0,1,2,252,33,30.13501811027527 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,36,2,11.645632982254028 +58,CUP,SUM,0,0,0,0,0,44,9,10.285269021987915 +58,SPOON,SUM,0,0,0,0,0,105,2,16.80187702178955 +58,,SUM,0,0,0,0,0,185,13,38.732779026031494 +58,, +59,, +59,BOWL,SUM,0,0,0,0,0,36,2,11.937835216522217 +59,CUP,SUM,1,0,0,1,2,41,31,0.0 +59,SPOON,SUM,0,0,0,0,0,3,2,13.882698774337769 +59,,SUM,1,0,0,1,2,80,35,25.820533990859985 +59,, +60,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv new file mode 100644 index 0000000000..d07b6ab533 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv @@ -0,0 +1,362 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,65,54,30.449851036071777 +0,CUP,SUM,1,0,0,1,0,108,60,0.0 +0,SPOON,SUM,0,0,0,0,2,8,47,28.550117015838623 +0,,SUM,1,0,0,1,2,181,161,58.9999680519104 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,76,93,40.567732095718384 +1,CUP,SUM,1,0,1,0,32,88,77,0.0 +1,SPOON,SUM,1,0,1,0,14,309,0,0.0 +1,,SUM,2,0,2,0,46,473,170,40.567732095718384 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,62,71,33.71971917152405 +2,CUP,SUM,0,0,0,0,0,72,4,11.736799001693726 +2,SPOON,SUM,0,0,0,0,0,28,19,22.499950885772705 +2,,SUM,0,0,0,0,0,162,94,67.95646905899048 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,53,19,19.58426308631897 +3,CUP,SUM,0,0,0,0,0,94,26,22.534301042556763 +3,SPOON,SUM,0,0,0,0,0,24,19,22.721342086791992 +3,,SUM,0,0,0,0,0,171,64,64.83990621566772 +3,, +4,, +4,BOWL,SUM,1,0,1,0,0,161,98,0.0 +4,CUP,SUM,0,0,0,0,0,75,78,31.811273097991943 +4,SPOON,SUM,0,0,0,0,0,20,19,22.816452980041504 +4,,SUM,1,0,1,0,0,256,195,54.62772607803345 +4,, +5,, +5,BOWL,SUM,1,0,1,0,0,137,98,0.0 +5,CUP,SUM,0,0,0,0,0,20,6,11.225651025772095 +6,, +6,BOWL,SUM,0,0,0,0,0,65,54,30.00978994369507 +6,CUP,SUM,1,0,0,1,0,108,60,0.0 +6,SPOON,SUM,0,0,0,0,2,8,47,28.082998991012573 +6,,SUM,1,0,0,1,2,181,161,58.09278893470764 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,76,93,39.98457908630371 +7,CUP,SUM,1,0,1,0,32,88,77,0.0 +7,SPOON,SUM,1,0,1,0,14,309,0,0.0 +7,,SUM,2,0,2,0,46,473,170,39.98457908630371 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,62,71,33.2884418964386 +8,CUP,SUM,0,0,0,0,0,72,4,11.551891088485718 +8,SPOON,SUM,0,0,0,0,0,28,19,22.612344980239868 +8,,SUM,0,0,0,0,0,162,94,67.45267796516418 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,53,19,19.368726015090942 +9,CUP,SUM,0,0,0,0,0,94,26,22.337339878082275 +9,SPOON,SUM,0,0,0,0,0,24,19,22.011937856674194 +9,,SUM,0,0,0,0,0,171,64,63.71800374984741 +9,, +10,, +10,BOWL,SUM,1,0,1,0,0,161,98,0.0 +10,CUP,SUM,0,0,0,0,0,75,78,31.43077301979065 +10,SPOON,SUM,0,0,0,0,0,20,19,22.588255882263184 +10,,SUM,1,0,1,0,0,256,195,54.01902890205383 +10,, +11,, +11,BOWL,SUM,1,0,1,0,0,137,98,0.0 +11,CUP,SUM,0,0,0,0,0,20,6,11.02919602394104 +11,SPOON,SUM,0,0,0,0,0,19,43,28.488879919052124 +11,,SUM,1,0,1,0,0,176,147,39.518075942993164 +11,, +12,, +12,BOWL,SUM,0,0,0,0,6,40,25,22.401936054229736 +12,CUP,SUM,1,0,1,0,2,114,105,0.0 +12,SPOON,SUM,0,0,0,0,0,2,15,18.512632131576538 +12,,SUM,1,0,1,0,8,156,145,40.914568185806274 +12,, +13,, +13,BOWL,SUM,0,0,0,0,0,49,17,18.81302499771118 +13,CUP,SUM,0,0,0,0,40,40,10,30.942551851272583 +13,SPOON,SUM,0,0,0,0,0,20,21,22.539630889892578 +13,,SUM,0,0,0,0,40,109,48,72.29520773887634 +13,, +14,, +14,BOWL,SUM,0,0,0,0,2,65,71,34.19526982307434 +14,CUP,SUM,0,0,0,0,0,66,4,11.615967035293579 +14,SPOON,SUM,0,0,0,0,0,10,27,24.153836011886597 +14,,SUM,0,0,0,0,2,141,102,69.96507287025452 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,57,17,19.3058500289917 +15,CUP,SUM,0,0,0,0,2,73,1,13.033403873443604 +15,SPOON,SUM,0,0,0,0,0,79,19,24.48597478866577 +15,,SUM,0,0,0,0,2,209,37,56.825228691101074 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,52,0,13.159416913986206 +16,CUP,SUM,0,0,0,0,2,76,5,13.159968852996826 +16,SPOON,SUM,0,0,0,0,2,37,93,43.598145961761475 +16,,SUM,0,0,0,0,4,165,98,69.9175317287445 +16,, +17,, +17,BOWL,SUM,0,0,0,0,2,142,2,16.33958387374878 +17,CUP,SUM,1,0,1,0,0,92,111,0.0 +17,SPOON,SUM,0,0,0,0,0,12,68,36.13244390487671 +17,,SUM,1,0,1,0,2,246,181,52.47202777862549 +17,, +18,, +18,BOWL,SUM,0,0,0,0,2,50,17,19.818270921707153 +18,CUP,SUM,0,0,0,0,0,69,32,20.848237991333008 +18,SPOON,SUM,0,0,0,0,0,61,5,19.03826594352722 +18,,SUM,0,0,0,0,2,180,54,59.70477485656738 +18,, +19,, +19,BOWL,SUM,0,0,0,0,40,41,25,39.053537130355835 +19,CUP,SUM,1,0,1,0,0,69,112,0.0 +19,SPOON,SUM,0,0,0,0,0,139,5,20.715825080871582 +19,,SUM,1,0,1,0,40,249,142,59.76936221122742 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,41,20,17.915398120880127 +20,CUP,SUM,0,0,0,0,0,60,2,11.736955881118774 +20,SPOON,SUM,0,0,0,0,0,75,42,33.32547616958618 +20,,SUM,0,0,0,0,0,176,64,62.97783017158508 +20,, +21,, +21,BOWL,SUM,1,0,1,0,0,71,104,0.0 +21,CUP,SUM,0,0,0,0,0,48,9,12.446046113967896 +21,SPOON,SUM,0,0,0,0,0,24,19,23.1771559715271 +21,,SUM,1,0,1,0,0,143,132,35.623202085494995 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,58,71,34.113783836364746 +22,CUP,SUM,0,0,0,0,0,44,4,11.404664039611816 +22,SPOON,SUM,0,0,0,0,0,25,5,17.75004506111145 +22,,SUM,0,0,0,0,0,127,80,63.26849293708801 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,33,19,19.023845195770264 +23,CUP,SUM,1,0,0,1,0,113,66,0.0 +23,SPOON,SUM,0,0,0,0,2,24,5,17.88291597366333 +23,,SUM,1,0,0,1,2,170,90,36.906761169433594 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,57,52,26.84387516975403 +24,CUP,SUM,0,0,0,0,32,42,6,22.818791151046753 +24,SPOON,SUM,0,0,0,0,0,1,25,22.025443077087402 +24,,SUM,0,0,0,0,32,100,83,71.68810939788818 +24,, +25,, +25,BOWL,SUM,0,0,0,0,2,67,68,31.958128213882446 +25,CUP,SUM,1,0,0,1,0,84,58,0.0 +25,SPOON,SUM,0,0,0,0,0,43,43,29.19854187965393 +25,,SUM,1,0,0,1,2,194,169,61.15667009353638 +25,, +26,, +26,BOWL,SUM,0,0,0,0,2,134,2,15.928403854370117 +26,CUP,SUM,1,0,1,0,0,43,109,0.0 +26,SPOON,SUM,1,0,1,0,0,306,0,0.0 +26,,SUM,2,0,2,0,2,483,111,15.928403854370117 +26,, +27,, +27,BOWL,SUM,1,0,1,0,2,71,104,0.0 +27,CUP,SUM,0,0,0,0,0,110,2,13.844700813293457 +27,SPOON,SUM,0,0,0,0,6,24,5,20.446417093276978 +27,,SUM,1,0,1,0,8,205,111,34.291117906570435 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,57,19,19.722126960754395 +28,CUP,SUM,0,0,0,0,0,60,2,11.722658157348633 +28,SPOON,SUM,0,0,0,0,0,52,5,18.723265886306763 +28,,SUM,0,0,0,0,0,169,26,50.16805100440979 +28,, +29,, +29,BOWL,SUM,0,0,0,0,0,36,0,12.803516864776611 +29,CUP,SUM,0,0,0,0,0,64,0,12.248878955841064 +29,SPOON,SUM,0,0,0,0,0,74,19,24.56437587738037 +29,,SUM,0,0,0,0,0,174,19,49.61677169799805 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,33,20,18.06187391281128 +30,CUP,SUM,0,0,0,0,0,74,30,22.30829906463623 +30,SPOON,SUM,0,0,0,0,0,25,55,32.308491945266724 +30,,SUM,0,0,0,0,0,132,105,72.67866492271423 +30,, +31,, +31,BOWL,SUM,0,0,0,0,0,59,71,34.2130491733551 +31,CUP,SUM,1,0,0,1,0,86,59,0.0 +31,SPOON,SUM,0,0,0,0,0,19,29,23.823333978652954 +31,,SUM,1,0,0,1,0,164,159,58.03638315200806 +31,, +32,, +32,BOWL,SUM,0,0,0,0,0,56,38,23.300789833068848 +32,CUP,SUM,0,0,0,0,0,65,0,11.839420080184937 +32,SPOON,SUM,0,0,0,0,0,24,19,23.087393045425415 +32,,SUM,0,0,0,0,0,145,57,58.2276029586792 +32,, +33,, +33,BOWL,SUM,0,0,0,0,0,52,0,13.812299966812134 +33,CUP,SUM,1,0,1,0,2,33,112,0.0 +33,SPOON,SUM,0,0,0,0,0,2,59,32.813700914382935 +33,,SUM,1,0,1,0,2,87,171,46.62600088119507 +33,, +34,, +34,BOWL,SUM,0,0,0,0,0,48,68,31.21510887145996 +34,CUP,SUM,1,0,1,0,2,77,109,0.0 +34,SPOON,SUM,1,0,1,0,0,355,0,0.0 +34,,SUM,2,0,2,0,2,480,177,31.21510887145996 +34,, +35,, +35,BOWL,SUM,1,0,1,0,0,53,104,0.0 +35,CUP,SUM,1,0,0,1,0,112,50,0.0 +35,SPOON,SUM,0,0,0,0,2,28,19,24.201415061950684 +35,,SUM,2,0,1,1,2,193,173,24.201415061950684 +35,, +36,, +36,BOWL,SUM,0,0,0,0,2,56,53,29.69770908355713 +36,CUP,SUM,0,0,0,0,0,51,78,30.44547200202942 +36,SPOON,SUM,0,0,0,0,0,33,5,17.956416130065918 +36,,SUM,0,0,0,0,2,140,136,78.09959721565247 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,16,25,20.257673978805542 +37,CUP,SUM,1,0,1,0,0,126,105,0.0 +37,SPOON,SUM,0,0,0,0,0,0,25,21.82153606414795 +37,,SUM,1,0,1,0,0,142,155,42.07921004295349 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,50,17,19.90637183189392 +38,CUP,SUM,1,0,0,1,0,108,62,0.0 +38,SPOON,SUM,0,0,0,0,0,52,43,28.663732051849365 +38,,SUM,1,0,0,1,0,210,122,48.570103883743286 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,50,17,19.645606994628906 +39,CUP,SUM,0,0,0,0,0,40,4,11.862529039382935 +39,SPOON,SUM,0,0,0,0,2,51,55,34.56532692909241 +39,,SUM,0,0,0,0,2,141,76,66.07346296310425 +39,, +40,, +40,BOWL,SUM,0,0,0,0,0,56,53,29.621782064437866 +40,CUP,SUM,0,0,0,0,6,41,1,13.966602802276611 +40,SPOON,SUM,0,0,0,0,0,5,59,33.04534316062927 +40,,SUM,0,0,0,0,6,102,113,76.63372802734375 +40,, +41,, +41,BOWL,SUM,1,0,1,0,0,86,99,0.0 +41,CUP,SUM,0,0,0,0,0,48,4,11.262130975723267 +41,SPOON,SUM,0,0,0,0,0,38,19,24.272907972335815 +41,,SUM,1,0,1,0,0,172,122,35.53503894805908 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,49,53,28.97335696220398 +42,CUP,SUM,1,0,0,1,0,118,62,0.0 +42,SPOON,SUM,0,0,0,0,0,6,59,33.3077130317688 +42,,SUM,1,0,0,1,0,173,174,62.28106999397278 +42,, +43,, +43,BOWL,SUM,1,0,1,0,0,74,104,0.0 +43,CUP,SUM,0,0,0,0,0,69,30,21.392077922821045 +43,SPOON,SUM,1,0,1,0,2,47,104,0.0 +43,,SUM,2,0,2,0,2,190,238,21.392077922821045 +43,, +44,, +44,BOWL,SUM,1,0,1,0,0,73,104,0.0 +44,CUP,SUM,1,0,0,1,0,106,59,0.0 +44,SPOON,SUM,0,0,0,0,0,68,31,27.262539863586426 +44,,SUM,2,0,1,1,0,247,194,27.262539863586426 +44,, +45,, +45,BOWL,SUM,0,0,0,0,0,47,68,26.677725076675415 +45,CUP,SUM,0,0,0,0,8,42,2,12.722838878631592 +45,SPOON,SUM,0,0,0,0,0,20,21,21.17154598236084 +45,,SUM,0,0,0,0,8,109,91,60.57210993766785 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,50,19,17.49479913711548 +46,CUP,SUM,0,0,0,0,0,41,2,10.363237142562866 +46,SPOON,SUM,0,0,0,0,0,2,27,21.515406131744385 +46,,SUM,0,0,0,0,0,93,48,49.37344241142273 +46,, +47,, +47,BOWL,SUM,0,0,0,0,2,67,68,27.714643001556396 +47,CUP,SUM,1,0,1,0,0,62,108,0.0 +47,SPOON,SUM,0,0,0,0,0,33,5,17.014832973480225 +47,,SUM,1,0,1,0,2,162,181,44.72947597503662 +47,, +48,, +48,BOWL,SUM,0,0,0,0,0,60,17,17.477138996124268 +48,CUP,SUM,1,0,1,0,0,34,111,0.0 +48,SPOON,SUM,0,0,0,0,0,66,19,22.141443967819214 +48,,SUM,1,0,1,0,0,160,147,39.61858296394348 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,56,53,24.627270936965942 +49,CUP,SUM,0,0,0,0,6,45,3,12.109158992767334 +49,SPOON,SUM,0,0,0,0,0,49,19,21.34312891960144 +49,,SUM,0,0,0,0,6,150,75,58.07955884933472 +49,, +50,, +50,BOWL,SUM,1,0,1,0,0,160,98,0.0 +50,CUP,SUM,0,0,0,0,0,20,2,10.024073123931885 +50,SPOON,SUM,0,0,0,0,0,28,19,20.760892152786255 +50,,SUM,1,0,1,0,0,208,119,30.78496527671814 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,40,20,15.539247989654541 +51,CUP,SUM,0,0,0,0,0,32,0,10.309813976287842 +51,SPOON,SUM,0,0,0,0,0,4,57,28.399192810058594 +51,,SUM,0,0,0,0,0,76,77,54.24825477600098 +51,, +52,, +52,BOWL,SUM,1,0,1,0,0,85,102,0.0 +52,CUP,SUM,1,1,0,0,160,4,0,0.0 +52,SPOON,SUM,0,0,0,0,0,28,5,17.677330017089844 +52,,SUM,2,1,1,0,160,117,107,17.677330017089844 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,106,2,13.719709873199463 +53,CUP,SUM,0,0,0,0,16,72,9,15.142421960830688 +53,SPOON,SUM,0,0,0,0,0,95,5,18.261590003967285 +53,,SUM,0,0,0,0,16,273,16,47.12372183799744 +53,, +54,, +54,BOWL,SUM,0,0,0,0,0,51,68,26.606745958328247 +54,CUP,SUM,0,0,0,0,0,40,0,10.13312315940857 +54,SPOON,SUM,0,0,0,0,0,49,21,21.994532108306885 +54,,SUM,0,0,0,0,0,140,89,58.7344012260437 +54,, +55,, +55,BOWL,SUM,0,0,0,0,0,33,17,17.422384023666382 +55,CUP,SUM,1,0,0,1,0,104,54,0.0 +55,SPOON,SUM,0,0,0,0,0,20,5,16.079617977142334 +55,,SUM,1,0,0,1,0,157,76,33.502002000808716 +55,, +56,, +56,BOWL,SUM,0,0,0,0,0,48,79,30.32792091369629 +56,CUP,SUM,1,0,0,1,0,136,64,0.0 +56,SPOON,SUM,0,0,0,0,0,24,19,20.786906957626343 +56,,SUM,1,0,0,1,0,208,162,51.11482787132263 +56,, +57,, +57,BOWL,SUM,0,0,0,0,0,38,36,19.370894193649292 +57,CUP,SUM,1,1,0,0,160,20,0,0.0 +57,SPOON,SUM,0,0,0,0,0,22,17,18.63319206237793 +57,,SUM,1,1,0,0,160,80,53,38.00408625602722 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,131,0,14.296315908432007 +58,CUP,SUM,0,0,0,0,4,76,0,11.932072162628174 +58,SPOON,SUM,0,0,0,0,0,0,17,18.622607946395874 +58,,SUM,0,0,0,0,4,207,17,44.850996017456055 +58,, +59,, +59,BOWL,SUM,0,0,0,0,2,68,68,27.658013820648193 +59,CUP,SUM,1,1,0,0,160,4,0,0.0 +59,SPOON,SUM,0,0,0,0,0,24,5,17.611032962799072 +59,,SUM,1,1,0,0,162,96,73,45.269046783447266 +59,, +60,, +60,BOWL,SUM,1,0,1,0,0,56,104,0.0 From 4fc25a2143e2990f7153f853e50f49f7e4bae327 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Tue, 10 Dec 2019 19:06:06 +0100 Subject: [PATCH 29/38] [kvr exp] adding pr2 orig orig 50 retries experiment data --- .../experiments/kvr_pr2_orig_orig_50retry.csv | 303 ++++++++++++++++++ 1 file changed, 303 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv new file mode 100644 index 0000000000..60a93a4a67 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv @@ -0,0 +1,303 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,101,82,38.442935943603516 +0,CUP,SUM,1,0,0,1,0,52,53,0.0 +0,SPOON,SUM,0,0,0,0,0,10,0,14.02034306526184 +0,,SUM,1,0,0,1,0,163,135,52.463279008865356 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,32,6,12.935539960861206 +1,CUP,SUM,0,0,0,0,0,28,9,10.173346996307373 +1,SPOON,SUM,0,0,0,0,0,5,16,17.83034586906433 +1,,SUM,0,0,0,0,0,65,31,40.93923282623291 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,103,0,13.317791223526001 +2,CUP,SUM,1,0,0,1,0,61,54,0.0 +2,SPOON,SUM,0,0,0,0,0,3,0,13.533122062683105 +2,,SUM,1,0,0,1,0,167,54,26.850913286209106 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,37,12,14.469054222106934 +3,CUP,SUM,0,0,0,0,0,56,38,20.939301013946533 +3,SPOON,SUM,0,0,0,0,0,3,0,13.909332036972046 +3,,SUM,0,0,0,0,0,96,50,49.31768727302551 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,24,29,19.980909824371338 +4,CUP,SUM,1,0,0,1,0,89,55,0.0 +4,SPOON,SUM,1,0,1,0,0,74,100,0.0 +4,,SUM,2,0,1,1,0,187,184,19.980909824371338 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,33,2,11.465444087982178 +5,CUP,SUM,0,0,0,0,0,48,23,17.972666025161743 +5,SPOON,SUM,1,0,1,0,0,76,100,0.0 +5,,SUM,1,0,1,0,0,157,125,29.43811011314392 +5,, +6,, +6,BOWL,SUM,0,0,0,0,40,39,0,30.3874249458313 +6,CUP,SUM,1,0,1,0,0,72,111,0.0 +6,SPOON,SUM,0,0,0,0,0,3,2,14.530829906463623 +6,,SUM,1,0,1,0,40,114,113,44.91825485229492 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,52,17,17.612916946411133 +7,CUP,SUM,1,0,0,1,2,41,51,0.0 +7,SPOON,SUM,0,0,0,0,0,116,0,16.868252992630005 +7,,SUM,1,0,0,1,2,209,68,34.48116993904114 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,24,0,11.38017201423645 +8,CUP,SUM,0,0,0,0,0,40,7,10.325466871261597 +8,SPOON,SUM,1,0,1,0,0,126,98,0.0 +8,,SUM,1,0,1,0,0,190,105,21.705638885498047 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,20,29,20.451989889144897 +9,CUP,SUM,1,0,0,1,2,53,51,0.0 +9,SPOON,SUM,0,0,0,0,0,3,0,14.621726036071777 +9,,SUM,1,0,0,1,2,76,80,35.073715925216675 +9,, +10,, +10,BOWL,SUM,0,0,0,0,0,24,12,14.37420392036438 +10,CUP,SUM,1,0,0,1,0,41,56,0.0 +10,SPOON,SUM,1,0,1,0,2,58,104,0.0 +10,,SUM,2,0,1,1,2,123,172,14.37420392036438 +10,, +11,, +11,BOWL,SUM,1,1,0,0,160,0,0,0.0 +11,CUP,SUM,1,0,1,0,2,88,108,0.0 +11,SPOON,SUM,0,0,0,0,0,22,0,16.63873600959778 +11,,SUM,2,1,1,0,162,110,108,16.63873600959778 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,36,0,12.592347145080566 +12,CUP,SUM,1,0,0,1,0,41,55,0.0 +12,SPOON,SUM,0,0,0,0,2,48,70,34.53050994873047 +12,,SUM,1,0,0,1,2,125,125,47.122857093811035 +12,, +13,, +13,BOWL,SUM,0,0,0,0,6,36,17,19.74189805984497 +13,CUP,SUM,0,0,0,0,0,32,4,9.972440004348755 +13,SPOON,SUM,0,0,0,0,0,3,0,14.560443878173828 +13,,SUM,0,0,0,0,6,71,21,44.274781942367554 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,33,0,11.815399885177612 +14,CUP,SUM,0,0,0,0,0,32,0,9.525336980819702 +14,SPOON,SUM,0,0,0,0,0,2,0,14.341877937316895 +14,,SUM,0,0,0,0,0,67,0,35.68261480331421 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,22,6,12.908690929412842 +15,CUP,SUM,1,0,0,1,0,41,51,0.0 +15,SPOON,SUM,0,0,0,0,0,2,0,14.217134952545166 +15,,SUM,1,0,0,1,0,65,57,27.125825881958008 +15,, +16,, +16,BOWL,SUM,0,0,0,0,40,52,91,56.47113609313965 +16,CUP,SUM,0,0,0,0,0,56,25,18.305120944976807 +16,SPOON,SUM,0,0,0,0,0,112,0,17.54491114616394 +16,,SUM,0,0,0,0,40,220,116,92.3211681842804 +16,, +17,, +17,BOWL,SUM,1,0,1,0,2,78,100,0.0 +17,CUP,SUM,1,0,0,1,0,77,51,0.0 +17,SPOON,SUM,0,0,0,0,0,2,0,14.604608058929443 +17,,SUM,2,0,1,1,2,157,151,14.604608058929443 +17,, +18,, +18,BOWL,SUM,0,0,0,0,6,90,2,15.235553979873657 +18,CUP,SUM,0,0,0,0,0,40,27,20.0775249004364 +18,SPOON,SUM,0,0,0,0,2,17,0,15.708853006362915 +18,,SUM,0,0,0,0,8,147,29,51.021931886672974 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,83,0,13.759824991226196 +19,CUP,SUM,1,0,1,0,0,58,111,0.0 +19,SPOON,SUM,1,0,1,0,0,80,102,0.0 +19,,SUM,2,0,2,0,0,221,213,13.759824991226196 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,16,6,12.508450984954834 +20,CUP,SUM,1,0,0,1,0,57,52,0.0 +20,SPOON,SUM,0,0,0,0,0,3,2,14.32389497756958 +20,,SUM,1,0,0,1,0,76,60,26.832345962524414 +20,, +21,, +21,BOWL,SUM,1,1,0,0,160,16,0,0.0 +21,CUP,SUM,0,0,0,0,0,48,8,10.575585126876831 +21,SPOON,SUM,0,0,0,0,0,67,16,19.997780084609985 +21,,SUM,1,1,0,0,160,131,24,30.573365211486816 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,82,12,16.442826986312866 +22,CUP,SUM,1,0,0,1,0,49,51,0.0 +22,SPOON,SUM,0,0,0,0,0,10,0,14.138066053390503 +22,,SUM,1,0,0,1,0,141,63,30.58089303970337 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,16,6,12.571310043334961 +23,CUP,SUM,1,0,0,1,0,49,58,0.0 +23,SPOON,SUM,1,1,0,0,144,90,0,0.0 +23,,SUM,2,1,0,1,144,155,64,12.571310043334961 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,82,0,13.308924913406372 +24,CUP,SUM,1,0,0,1,0,65,53,0.0 +24,SPOON,SUM,0,0,0,0,0,18,0,15.077637910842896 +24,,SUM,1,0,0,1,0,165,53,28.386562824249268 +24,, +25,, +25,BOWL,SUM,1,0,1,0,0,82,100,0.0 +25,CUP,SUM,1,0,0,1,0,41,58,0.0 +25,SPOON,SUM,0,0,0,0,2,92,2,18.440405130386353 +25,,SUM,2,0,1,1,2,215,160,18.440405130386353 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,107,2,13.753176927566528 +26,CUP,SUM,1,0,0,1,0,65,51,0.0 +26,SPOON,SUM,0,0,0,0,0,22,0,15.019737958908081 +26,,SUM,1,0,0,1,0,194,53,28.77291488647461 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,20,6,12.565279006958008 +27,CUP,SUM,0,0,0,0,0,64,99,43.46487998962402 +27,SPOON,SUM,0,0,0,0,0,97,0,17.64417600631714 +27,,SUM,0,0,0,0,0,181,105,73.67433500289917 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,40,0,11.853786945343018 +28,CUP,SUM,1,0,0,1,0,41,54,0.0 +28,SPOON,SUM,0,0,0,0,2,8,14,18.663853883743286 +28,,SUM,1,0,0,1,2,89,68,30.517640829086304 +28,, +29,, +29,BOWL,SUM,1,0,1,0,0,108,100,0.0 +29,CUP,SUM,1,0,0,1,0,68,55,0.0 +29,SPOON,SUM,0,0,0,0,0,22,0,15.216270923614502 +29,,SUM,2,0,1,1,0,198,155,15.216270923614502 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,36,17,18.222246170043945 +30,CUP,SUM,1,0,0,1,0,57,58,0.0 +30,SPOON,SUM,0,0,0,0,0,101,2,17.677098035812378 +30,,SUM,1,0,0,1,0,194,77,35.89934420585632 +30,, +31,, +31,BOWL,SUM,0,0,0,0,0,149,74,35.600939989089966 +31,CUP,SUM,1,0,0,1,2,77,51,0.0 +31,SPOON,SUM,0,0,0,0,0,80,0,16.57760715484619 +31,,SUM,1,0,0,1,2,306,125,52.17854714393616 +31,, +32,, +32,BOWL,SUM,0,0,0,0,0,99,2,13.875711917877197 +32,CUP,SUM,1,0,0,1,0,53,51,0.0 +32,SPOON,SUM,0,0,0,0,0,33,70,33.77736210823059 +32,,SUM,1,0,0,1,0,185,123,47.65307402610779 +32,, +33,, +33,BOWL,SUM,0,0,0,0,0,36,0,12.030343055725098 +33,CUP,SUM,1,0,0,1,0,41,58,0.0 +33,SPOON,SUM,1,0,1,0,10,133,98,0.0 +33,,SUM,2,0,1,1,10,210,156,12.030343055725098 +33,, +34,, +34,BOWL,SUM,0,0,0,0,2,47,91,39.09310293197632 +34,CUP,SUM,1,0,0,1,0,57,57,0.0 +34,SPOON,SUM,0,0,0,0,0,22,0,14.919260025024414 +34,,SUM,1,0,0,1,2,126,148,54.01236295700073 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,24,29,20.81712293624878 +35,CUP,SUM,0,0,0,0,0,38,1,10.015268087387085 +35,SPOON,SUM,0,0,0,0,2,33,0,15.737038850784302 +35,,SUM,0,0,0,0,2,95,30,46.569429874420166 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,86,0,13.866288900375366 +36,CUP,SUM,0,0,0,0,0,53,22,20.9757239818573 +36,SPOON,SUM,1,0,1,0,0,65,102,0.0 +36,,SUM,1,0,1,0,0,204,124,34.842012882232666 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,31,32,20.156954050064087 +37,CUP,SUM,1,0,0,1,0,55,55,0.0 +37,SPOON,SUM,0,0,0,0,0,22,0,14.698256015777588 +37,,SUM,1,0,0,1,0,108,87,34.855210065841675 +37,, +38,, +38,BOWL,SUM,0,0,0,0,4,28,12,16.21026110649109 +38,CUP,SUM,1,0,0,1,0,65,59,0.0 +38,SPOON,SUM,0,0,0,0,4,100,0,18.795096158981323 +38,,SUM,1,0,0,1,8,193,71,35.00535726547241 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,40,17,18.218172073364258 +39,CUP,SUM,0,0,0,0,0,44,3,10.351197957992554 +39,SPOON,SUM,0,0,0,0,0,2,0,14.361007928848267 +39,,SUM,0,0,0,0,0,86,20,42.93037796020508 +39,, +40,, +40,BOWL,SUM,1,0,1,0,6,84,100,0.0 +40,CUP,SUM,0,0,0,0,0,36,20,20.15441608428955 +40,SPOON,SUM,0,0,0,0,0,17,12,17.85189986228943 +40,,SUM,1,0,1,0,6,137,132,38.00631594657898 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,83,0,13.527314186096191 +41,CUP,SUM,0,0,0,0,0,36,21,19.699498891830444 +41,SPOON,SUM,0,0,0,0,0,29,2,14.888285875320435 +41,,SUM,0,0,0,0,0,148,23,48.11509895324707 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,36,2,11.940804958343506 +42,CUP,SUM,1,0,0,1,0,65,53,0.0 +42,SPOON,SUM,0,0,0,0,0,17,0,14.812144994735718 +42,,SUM,1,0,0,1,0,118,55,26.752949953079224 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,86,0,13.600675106048584 +43,CUP,SUM,1,0,0,1,2,58,51,0.0 +43,SPOON,SUM,1,0,1,0,2,65,104,0.0 +43,,SUM,2,0,1,1,4,209,155,13.600675106048584 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,43,91,38.726536989212036 +44,CUP,SUM,0,0,0,0,0,32,2,10.042500972747803 +44,SPOON,SUM,0,0,0,0,0,104,2,17.52332305908203 +44,,SUM,0,0,0,0,0,179,95,66.29236102104187 +44,, +45,, +45,BOWL,SUM,1,0,1,0,0,79,100,0.0 +45,CUP,SUM,0,0,0,0,2,80,24,20.0230610370636 +45,SPOON,SUM,0,0,0,0,0,3,2,14.60004186630249 +45,,SUM,1,0,1,0,2,162,126,34.62310290336609 +45,, +46,, +46,BOWL,SUM,1,0,1,0,0,139,100,0.0 +46,CUP,SUM,0,0,0,0,2,85,21,19.998673915863037 +46,SPOON,SUM,0,0,0,0,0,21,0,15.492021083831787 +46,,SUM,1,0,1,0,2,245,121,35.490694999694824 +46,, +47,, +47,BOWL,SUM,0,0,0,0,0,98,2,14.704730987548828 +47,CUP,SUM,1,0,0,1,0,55,59,0.0 +47,SPOON,SUM,0,0,0,0,0,4,2,14.603027105331421 +47,,SUM,1,0,0,1,0,157,63,29.30775809288025 +47,, +48,, +48,BOWL,SUM,1,0,1,0,0,78,100,0.0 +48,CUP,SUM,1,0,1,0,4,104,67,0.0 +48,SPOON,SUM,0,0,0,0,0,105,2,17.812618017196655 +48,,SUM,2,0,2,0,4,287,169,17.812618017196655 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,61,91,38.6656768321991 +49,CUP,SUM,1,0,0,1,0,41,51,0.0 +49,SPOON,SUM,0,0,0,0,0,14,0,14.419321060180664 +49,,SUM,1,0,0,1,0,116,142,53.08499789237976 +49,, From 81611b1c96201c1b32749888396f57cbf5abff18 Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Tue, 10 Dec 2019 21:03:53 +0100 Subject: [PATCH 30/38] [kvr exp] added kvr pr2 orig var data subset --- .../kvr_pr2_orig_orig_subset_var.csv | 274 ++++++++++++++++++ .../kvr_pr2_orig_var_subset_var.csv | 274 ++++++++++++++++++ 2 files changed, 548 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv new file mode 100644 index 0000000000..e1a5176b6f --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv @@ -0,0 +1,274 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,52,19,19.00991201400757 +0,CUP,SUM,1,0,0,1,0,90,55,0.0 +0,SPOON,SUM,1,0,1,0,0,214,0,0.0 +0,,SUM,2,0,1,1,0,356,74,19.00991201400757 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,49,17,15.975137948989868 +1,CUP,SUM,1,0,0,1,0,72,52,0.0 +1,SPOON,SUM,1,0,1,0,0,186,0,0.0 +1,,SUM,2,0,1,1,0,307,69,15.975137948989868 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,38,2,9.341951131820679 +2,CUP,SUM,0,0,0,0,0,137,8,11.424550771713257 +2,SPOON,SUM,0,0,0,0,0,33,5,14.244040966033936 +2,,SUM,0,0,0,0,0,208,15,35.01054286956787 +2,, +3,, +3,BOWL,SUM,1,0,1,0,2,49,104,0.0 +3,CUP,SUM,1,0,0,1,0,111,51,0.0 +3,SPOON,SUM,1,0,1,0,0,186,0,0.0 +3,,SUM,3,0,2,1,2,346,155,0.0 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,44,0,10.256078004837036 +4,CUP,SUM,1,0,0,1,0,122,55,0.0 +4,SPOON,SUM,0,0,0,0,0,50,117,49.91239404678345 +4,,SUM,1,0,0,1,0,216,172,60.16847205162048 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,94,28,18.830068111419678 +5,CUP,SUM,1,0,0,1,0,136,92,0.0 +5,SPOON,SUM,0,0,0,0,0,0,17,16.687727212905884 +5,,SUM,1,0,0,1,0,230,137,35.51779532432556 +5,, +6,, +6,BOWL,SUM,0,0,0,0,40,59,44,38.43129801750183 +6,CUP,SUM,0,0,0,0,0,132,8,12.14149022102356 +6,SPOON,SUM,0,0,0,0,0,33,19,20.311529874801636 +6,,SUM,0,0,0,0,40,224,71,70.88431811332703 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,36,61,27.78350305557251 +7,CUP,SUM,1,0,0,1,0,91,53,0.0 +7,SPOON,SUM,1,0,1,0,0,179,24,0.0 +7,,SUM,2,0,1,1,0,306,138,27.78350305557251 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,42,25,17.548959016799927 +8,CUP,SUM,0,0,0,0,0,156,2,11.615709781646729 +8,SPOON,SUM,1,0,1,0,0,186,0,0.0 +8,,SUM,1,0,1,0,0,384,27,29.164668798446655 +8,, +9,, +9,BOWL,SUM,1,0,1,0,2,76,104,0.0 +9,CUP,SUM,1,0,0,1,0,136,51,0.0 +9,SPOON,SUM,0,0,0,0,0,17,63,31.249682903289795 +9,,SUM,2,0,1,1,2,229,218,31.249682903289795 +9,, +10,, +10,BOWL,SUM,0,0,0,0,0,77,36,20.576672077178955 +10,CUP,SUM,0,0,0,0,0,74,2,9.153569221496582 +10,SPOON,SUM,1,0,1,0,0,186,0,0.0 +10,,SUM,1,0,1,0,0,337,38,29.730241298675537 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,53,53,25.129780054092407 +11,CUP,SUM,0,0,0,0,0,187,6,12.738184928894043 +11,SPOON,SUM,0,0,0,0,0,66,6,16.475636959075928 +11,,SUM,0,0,0,0,0,306,65,54.34360194206238 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,44,0,9.55265498161316 +12,CUP,SUM,1,1,0,0,160,4,0,0.0 +12,SPOON,SUM,1,0,1,0,0,186,0,0.0 +12,,SUM,2,1,1,0,160,234,0,9.55265498161316 +12,, +13,, +13,BOWL,SUM,0,0,0,0,2,92,36,21.412147998809814 +13,CUP,SUM,0,0,0,0,0,107,50,22.14130997657776 +13,SPOON,SUM,1,0,1,0,0,186,0,0.0 +13,,SUM,1,0,1,0,2,385,86,43.55345797538757 +13,, +14,, +14,BOWL,SUM,0,0,0,0,6,60,0,12.15053391456604 +14,CUP,SUM,0,0,0,0,0,140,4,11.124588012695313 +14,SPOON,SUM,0,0,0,0,0,11,63,31.350534915924072 +14,,SUM,0,0,0,0,6,211,67,54.625656843185425 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,42,0,9.73363995552063 +15,CUP,SUM,0,0,0,0,2,165,0,12.488840103149414 +15,SPOON,SUM,0,0,0,0,0,57,41,25.147974014282227 +15,,SUM,0,0,0,0,2,264,41,47.37045407295227 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,32,25,17.447251796722412 +16,CUP,SUM,1,0,0,1,0,71,70,0.0 +16,SPOON,SUM,0,0,0,0,0,19,63,31.64811611175537 +16,,SUM,1,0,0,1,0,122,158,49.09536790847778 +16,, +17,, +17,BOWL,SUM,1,0,1,0,0,199,24,0.0 +17,CUP,SUM,1,0,0,1,2,127,49,0.0 +17,SPOON,SUM,0,0,0,0,0,24,5,14.520062923431396 +17,,SUM,2,0,1,1,2,350,78,14.520062923431396 +17,, +18,, +18,BOWL,SUM,0,0,0,0,0,36,61,27.99968409538269 +18,CUP,SUM,0,0,0,0,0,132,2,10.725867986679077 +18,SPOON,SUM,0,0,0,0,0,70,5,15.904345989227295 +18,,SUM,0,0,0,0,0,238,68,54.62989807128906 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,36,17,15.947667837142944 +19,CUP,SUM,0,0,0,0,16,139,4,16.7294659614563 +19,SPOON,SUM,0,0,0,0,0,24,5,14.082974910736084 +19,,SUM,0,0,0,0,16,199,26,46.76010870933533 +19,, +20,, +20,BOWL,SUM,1,0,1,0,0,50,63,0.0 +20,CUP,SUM,1,0,0,1,0,99,53,0.0 +20,SPOON,SUM,0,0,0,0,0,33,5,14.388967990875244 +20,,SUM,2,0,1,1,0,182,121,14.388967990875244 +20,, +21,, +21,BOWL,SUM,1,0,1,0,46,97,100,0.0 +21,CUP,SUM,1,0,0,1,0,132,49,0.0 +21,SPOON,SUM,0,0,0,0,2,28,5,15.96800184249878 +21,,SUM,2,0,1,1,48,257,154,15.96800184249878 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,112,24,18.35365104675293 +22,CUP,SUM,1,0,1,0,0,116,105,0.0 +22,SPOON,SUM,0,0,0,0,0,41,5,15.159312963485718 +22,,SUM,1,0,1,0,0,269,134,33.51296401023865 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,67,2,10.768693923950195 +23,CUP,SUM,1,0,0,1,22,106,55,0.0 +23,SPOON,SUM,0,0,0,0,0,33,19,20.62005090713501 +23,,SUM,1,0,0,1,22,206,76,31.388744831085205 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,42,25,18.065079927444458 +24,CUP,SUM,0,0,0,0,0,74,2,8.937997102737427 +24,SPOON,SUM,1,0,1,0,0,186,0,0.0 +24,,SUM,1,0,1,0,0,302,27,27.003077030181885 +24,, +25,, +25,BOWL,SUM,0,0,0,0,0,45,68,30.91640305519104 +25,CUP,SUM,1,0,0,1,0,66,57,0.0 +25,SPOON,SUM,1,0,1,0,0,186,0,0.0 +25,,SUM,2,0,1,1,0,297,125,30.91640305519104 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,89,0,11.790578842163086 +26,CUP,SUM,1,1,0,0,160,4,0,0.0 +26,SPOON,SUM,0,0,0,0,0,38,19,20.638155937194824 +26,,SUM,1,1,0,0,160,131,19,32.42873477935791 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,40,2,9.935755968093872 +27,CUP,SUM,1,0,0,1,0,95,53,0.0 +27,SPOON,SUM,1,0,1,0,0,179,24,0.0 +27,,SUM,2,0,1,1,0,314,79,9.935755968093872 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,92,17,18.55755305290222 +28,CUP,SUM,1,0,0,1,0,132,53,0.0 +28,SPOON,SUM,0,0,0,0,0,33,5,15.178645849227905 +28,,SUM,1,0,0,1,0,257,75,33.73619890213013 +28,, +29,, +29,BOWL,SUM,0,0,0,0,0,83,2,11.785982847213745 +29,CUP,SUM,0,0,0,0,0,66,8,9.168170928955078 +29,SPOON,SUM,0,0,0,0,0,26,25,20.068249940872192 +29,,SUM,0,0,0,0,0,175,35,41.022403717041016 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,36,17,16.25742197036743 +30,CUP,SUM,1,0,0,1,0,138,51,0.0 +30,SPOON,SUM,0,0,0,0,0,61,19,21.029860973358154 +30,,SUM,1,0,0,1,0,235,87,37.287282943725586 +30,, +31,, +31,BOWL,SUM,1,0,1,0,0,128,100,0.0 +31,CUP,SUM,1,0,0,1,0,94,49,0.0 +31,SPOON,SUM,0,0,0,0,0,20,63,33.144198179244995 +31,,SUM,2,0,1,1,0,242,212,33.144198179244995 +31,, +32,, +32,BOWL,SUM,1,0,1,0,0,71,102,0.0 +32,CUP,SUM,1,1,0,0,160,28,0,0.0 +32,SPOON,SUM,0,0,0,0,0,41,5,16.923424005508423 +32,,SUM,2,1,1,0,160,140,107,16.923424005508423 +32,, +33,, +33,BOWL,SUM,0,0,0,0,40,87,2,27.92715096473694 +33,CUP,SUM,1,0,0,1,0,132,51,0.0 +33,SPOON,SUM,1,0,1,0,0,34,84,0.0 +33,,SUM,2,0,1,1,40,253,137,27.92715096473694 +33,, +34,, +34,BOWL,SUM,0,0,0,0,40,84,100,55.336369037628174 +34,CUP,SUM,0,0,0,0,0,131,4,11.862668991088867 +34,SPOON,SUM,1,0,1,0,2,214,0,0.0 +34,,SUM,1,0,1,0,42,429,104,67.19903802871704 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,58,2,10.659610986709595 +35,CUP,SUM,1,0,0,1,0,70,57,0.0 +35,SPOON,SUM,1,0,1,0,0,186,0,0.0 +35,,SUM,2,0,1,1,0,314,59,10.659610986709595 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,66,17,17.995197057724 +36,CUP,SUM,1,0,0,1,24,169,50,0.0 +36,SPOON,SUM,1,0,1,0,0,186,0,0.0 +36,,SUM,2,0,1,1,24,421,67,17.995197057724 +36,, +37,, +37,BOWL,SUM,1,0,1,0,46,83,102,0.0 +37,CUP,SUM,1,0,1,0,0,40,77,0.0 +37,SPOON,SUM,1,0,1,0,0,214,0,0.0 +37,,SUM,3,0,3,0,46,337,179,0.0 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,85,36,21.399366855621338 +38,CUP,SUM,1,0,0,1,0,127,51,0.0 +38,SPOON,SUM,0,0,0,0,0,28,5,15.145998001098633 +38,,SUM,1,0,0,1,0,240,92,36.54536485671997 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,42,36,19.52343511581421 +39,CUP,SUM,1,0,0,1,16,182,52,0.0 +39,SPOON,SUM,1,0,1,0,0,186,0,0.0 +39,,SUM,2,0,1,1,16,410,88,19.52343511581421 +39,, +40,, +40,BOWL,SUM,1,0,1,0,0,174,24,0.0 +40,CUP,SUM,1,1,0,0,160,24,0,0.0 +40,SPOON,SUM,0,0,0,0,0,4,13,16.325254917144775 +40,,SUM,2,1,1,0,160,202,37,16.325254917144775 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,58,38,20.87921404838562 +41,CUP,SUM,0,0,0,0,0,132,4,11.273149013519287 +41,SPOON,SUM,1,0,1,0,0,174,24,0.0 +41,,SUM,1,0,1,0,0,364,66,32.15236306190491 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,62,0,11.190335988998413 +42,CUP,SUM,0,0,0,0,0,99,6,11.075623989105225 +42,SPOON,SUM,0,0,0,0,0,47,57,31.296164989471436 +42,,SUM,0,0,0,0,0,208,63,53.56212496757507 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,32,53,26.223522901535034 +43,CUP,SUM,1,0,0,1,0,94,49,0.0 +43,SPOON,SUM,0,0,0,0,0,37,5,15.182408094406128 +43,,SUM,1,0,0,1,0,163,107,41.40593099594116 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,40,20,15.528623104095459 +44,CUP,SUM,0,0,0,0,32,96,4,22.032344102859497 +44,SPOON,SUM,1,0,1,0,0,186,0,0.0 +44,,SUM,1,0,1,0,32,322,24,37.560967206954956 +44,, +45,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv new file mode 100644 index 0000000000..e1a5176b6f --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv @@ -0,0 +1,274 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,52,19,19.00991201400757 +0,CUP,SUM,1,0,0,1,0,90,55,0.0 +0,SPOON,SUM,1,0,1,0,0,214,0,0.0 +0,,SUM,2,0,1,1,0,356,74,19.00991201400757 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,49,17,15.975137948989868 +1,CUP,SUM,1,0,0,1,0,72,52,0.0 +1,SPOON,SUM,1,0,1,0,0,186,0,0.0 +1,,SUM,2,0,1,1,0,307,69,15.975137948989868 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,38,2,9.341951131820679 +2,CUP,SUM,0,0,0,0,0,137,8,11.424550771713257 +2,SPOON,SUM,0,0,0,0,0,33,5,14.244040966033936 +2,,SUM,0,0,0,0,0,208,15,35.01054286956787 +2,, +3,, +3,BOWL,SUM,1,0,1,0,2,49,104,0.0 +3,CUP,SUM,1,0,0,1,0,111,51,0.0 +3,SPOON,SUM,1,0,1,0,0,186,0,0.0 +3,,SUM,3,0,2,1,2,346,155,0.0 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,44,0,10.256078004837036 +4,CUP,SUM,1,0,0,1,0,122,55,0.0 +4,SPOON,SUM,0,0,0,0,0,50,117,49.91239404678345 +4,,SUM,1,0,0,1,0,216,172,60.16847205162048 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,94,28,18.830068111419678 +5,CUP,SUM,1,0,0,1,0,136,92,0.0 +5,SPOON,SUM,0,0,0,0,0,0,17,16.687727212905884 +5,,SUM,1,0,0,1,0,230,137,35.51779532432556 +5,, +6,, +6,BOWL,SUM,0,0,0,0,40,59,44,38.43129801750183 +6,CUP,SUM,0,0,0,0,0,132,8,12.14149022102356 +6,SPOON,SUM,0,0,0,0,0,33,19,20.311529874801636 +6,,SUM,0,0,0,0,40,224,71,70.88431811332703 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,36,61,27.78350305557251 +7,CUP,SUM,1,0,0,1,0,91,53,0.0 +7,SPOON,SUM,1,0,1,0,0,179,24,0.0 +7,,SUM,2,0,1,1,0,306,138,27.78350305557251 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,42,25,17.548959016799927 +8,CUP,SUM,0,0,0,0,0,156,2,11.615709781646729 +8,SPOON,SUM,1,0,1,0,0,186,0,0.0 +8,,SUM,1,0,1,0,0,384,27,29.164668798446655 +8,, +9,, +9,BOWL,SUM,1,0,1,0,2,76,104,0.0 +9,CUP,SUM,1,0,0,1,0,136,51,0.0 +9,SPOON,SUM,0,0,0,0,0,17,63,31.249682903289795 +9,,SUM,2,0,1,1,2,229,218,31.249682903289795 +9,, +10,, +10,BOWL,SUM,0,0,0,0,0,77,36,20.576672077178955 +10,CUP,SUM,0,0,0,0,0,74,2,9.153569221496582 +10,SPOON,SUM,1,0,1,0,0,186,0,0.0 +10,,SUM,1,0,1,0,0,337,38,29.730241298675537 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,53,53,25.129780054092407 +11,CUP,SUM,0,0,0,0,0,187,6,12.738184928894043 +11,SPOON,SUM,0,0,0,0,0,66,6,16.475636959075928 +11,,SUM,0,0,0,0,0,306,65,54.34360194206238 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,44,0,9.55265498161316 +12,CUP,SUM,1,1,0,0,160,4,0,0.0 +12,SPOON,SUM,1,0,1,0,0,186,0,0.0 +12,,SUM,2,1,1,0,160,234,0,9.55265498161316 +12,, +13,, +13,BOWL,SUM,0,0,0,0,2,92,36,21.412147998809814 +13,CUP,SUM,0,0,0,0,0,107,50,22.14130997657776 +13,SPOON,SUM,1,0,1,0,0,186,0,0.0 +13,,SUM,1,0,1,0,2,385,86,43.55345797538757 +13,, +14,, +14,BOWL,SUM,0,0,0,0,6,60,0,12.15053391456604 +14,CUP,SUM,0,0,0,0,0,140,4,11.124588012695313 +14,SPOON,SUM,0,0,0,0,0,11,63,31.350534915924072 +14,,SUM,0,0,0,0,6,211,67,54.625656843185425 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,42,0,9.73363995552063 +15,CUP,SUM,0,0,0,0,2,165,0,12.488840103149414 +15,SPOON,SUM,0,0,0,0,0,57,41,25.147974014282227 +15,,SUM,0,0,0,0,2,264,41,47.37045407295227 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,32,25,17.447251796722412 +16,CUP,SUM,1,0,0,1,0,71,70,0.0 +16,SPOON,SUM,0,0,0,0,0,19,63,31.64811611175537 +16,,SUM,1,0,0,1,0,122,158,49.09536790847778 +16,, +17,, +17,BOWL,SUM,1,0,1,0,0,199,24,0.0 +17,CUP,SUM,1,0,0,1,2,127,49,0.0 +17,SPOON,SUM,0,0,0,0,0,24,5,14.520062923431396 +17,,SUM,2,0,1,1,2,350,78,14.520062923431396 +17,, +18,, +18,BOWL,SUM,0,0,0,0,0,36,61,27.99968409538269 +18,CUP,SUM,0,0,0,0,0,132,2,10.725867986679077 +18,SPOON,SUM,0,0,0,0,0,70,5,15.904345989227295 +18,,SUM,0,0,0,0,0,238,68,54.62989807128906 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,36,17,15.947667837142944 +19,CUP,SUM,0,0,0,0,16,139,4,16.7294659614563 +19,SPOON,SUM,0,0,0,0,0,24,5,14.082974910736084 +19,,SUM,0,0,0,0,16,199,26,46.76010870933533 +19,, +20,, +20,BOWL,SUM,1,0,1,0,0,50,63,0.0 +20,CUP,SUM,1,0,0,1,0,99,53,0.0 +20,SPOON,SUM,0,0,0,0,0,33,5,14.388967990875244 +20,,SUM,2,0,1,1,0,182,121,14.388967990875244 +20,, +21,, +21,BOWL,SUM,1,0,1,0,46,97,100,0.0 +21,CUP,SUM,1,0,0,1,0,132,49,0.0 +21,SPOON,SUM,0,0,0,0,2,28,5,15.96800184249878 +21,,SUM,2,0,1,1,48,257,154,15.96800184249878 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,112,24,18.35365104675293 +22,CUP,SUM,1,0,1,0,0,116,105,0.0 +22,SPOON,SUM,0,0,0,0,0,41,5,15.159312963485718 +22,,SUM,1,0,1,0,0,269,134,33.51296401023865 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,67,2,10.768693923950195 +23,CUP,SUM,1,0,0,1,22,106,55,0.0 +23,SPOON,SUM,0,0,0,0,0,33,19,20.62005090713501 +23,,SUM,1,0,0,1,22,206,76,31.388744831085205 +23,, +24,, +24,BOWL,SUM,0,0,0,0,0,42,25,18.065079927444458 +24,CUP,SUM,0,0,0,0,0,74,2,8.937997102737427 +24,SPOON,SUM,1,0,1,0,0,186,0,0.0 +24,,SUM,1,0,1,0,0,302,27,27.003077030181885 +24,, +25,, +25,BOWL,SUM,0,0,0,0,0,45,68,30.91640305519104 +25,CUP,SUM,1,0,0,1,0,66,57,0.0 +25,SPOON,SUM,1,0,1,0,0,186,0,0.0 +25,,SUM,2,0,1,1,0,297,125,30.91640305519104 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,89,0,11.790578842163086 +26,CUP,SUM,1,1,0,0,160,4,0,0.0 +26,SPOON,SUM,0,0,0,0,0,38,19,20.638155937194824 +26,,SUM,1,1,0,0,160,131,19,32.42873477935791 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,40,2,9.935755968093872 +27,CUP,SUM,1,0,0,1,0,95,53,0.0 +27,SPOON,SUM,1,0,1,0,0,179,24,0.0 +27,,SUM,2,0,1,1,0,314,79,9.935755968093872 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,92,17,18.55755305290222 +28,CUP,SUM,1,0,0,1,0,132,53,0.0 +28,SPOON,SUM,0,0,0,0,0,33,5,15.178645849227905 +28,,SUM,1,0,0,1,0,257,75,33.73619890213013 +28,, +29,, +29,BOWL,SUM,0,0,0,0,0,83,2,11.785982847213745 +29,CUP,SUM,0,0,0,0,0,66,8,9.168170928955078 +29,SPOON,SUM,0,0,0,0,0,26,25,20.068249940872192 +29,,SUM,0,0,0,0,0,175,35,41.022403717041016 +29,, +30,, +30,BOWL,SUM,0,0,0,0,0,36,17,16.25742197036743 +30,CUP,SUM,1,0,0,1,0,138,51,0.0 +30,SPOON,SUM,0,0,0,0,0,61,19,21.029860973358154 +30,,SUM,1,0,0,1,0,235,87,37.287282943725586 +30,, +31,, +31,BOWL,SUM,1,0,1,0,0,128,100,0.0 +31,CUP,SUM,1,0,0,1,0,94,49,0.0 +31,SPOON,SUM,0,0,0,0,0,20,63,33.144198179244995 +31,,SUM,2,0,1,1,0,242,212,33.144198179244995 +31,, +32,, +32,BOWL,SUM,1,0,1,0,0,71,102,0.0 +32,CUP,SUM,1,1,0,0,160,28,0,0.0 +32,SPOON,SUM,0,0,0,0,0,41,5,16.923424005508423 +32,,SUM,2,1,1,0,160,140,107,16.923424005508423 +32,, +33,, +33,BOWL,SUM,0,0,0,0,40,87,2,27.92715096473694 +33,CUP,SUM,1,0,0,1,0,132,51,0.0 +33,SPOON,SUM,1,0,1,0,0,34,84,0.0 +33,,SUM,2,0,1,1,40,253,137,27.92715096473694 +33,, +34,, +34,BOWL,SUM,0,0,0,0,40,84,100,55.336369037628174 +34,CUP,SUM,0,0,0,0,0,131,4,11.862668991088867 +34,SPOON,SUM,1,0,1,0,2,214,0,0.0 +34,,SUM,1,0,1,0,42,429,104,67.19903802871704 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,58,2,10.659610986709595 +35,CUP,SUM,1,0,0,1,0,70,57,0.0 +35,SPOON,SUM,1,0,1,0,0,186,0,0.0 +35,,SUM,2,0,1,1,0,314,59,10.659610986709595 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,66,17,17.995197057724 +36,CUP,SUM,1,0,0,1,24,169,50,0.0 +36,SPOON,SUM,1,0,1,0,0,186,0,0.0 +36,,SUM,2,0,1,1,24,421,67,17.995197057724 +36,, +37,, +37,BOWL,SUM,1,0,1,0,46,83,102,0.0 +37,CUP,SUM,1,0,1,0,0,40,77,0.0 +37,SPOON,SUM,1,0,1,0,0,214,0,0.0 +37,,SUM,3,0,3,0,46,337,179,0.0 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,85,36,21.399366855621338 +38,CUP,SUM,1,0,0,1,0,127,51,0.0 +38,SPOON,SUM,0,0,0,0,0,28,5,15.145998001098633 +38,,SUM,1,0,0,1,0,240,92,36.54536485671997 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,42,36,19.52343511581421 +39,CUP,SUM,1,0,0,1,16,182,52,0.0 +39,SPOON,SUM,1,0,1,0,0,186,0,0.0 +39,,SUM,2,0,1,1,16,410,88,19.52343511581421 +39,, +40,, +40,BOWL,SUM,1,0,1,0,0,174,24,0.0 +40,CUP,SUM,1,1,0,0,160,24,0,0.0 +40,SPOON,SUM,0,0,0,0,0,4,13,16.325254917144775 +40,,SUM,2,1,1,0,160,202,37,16.325254917144775 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,58,38,20.87921404838562 +41,CUP,SUM,0,0,0,0,0,132,4,11.273149013519287 +41,SPOON,SUM,1,0,1,0,0,174,24,0.0 +41,,SUM,1,0,1,0,0,364,66,32.15236306190491 +41,, +42,, +42,BOWL,SUM,0,0,0,0,0,62,0,11.190335988998413 +42,CUP,SUM,0,0,0,0,0,99,6,11.075623989105225 +42,SPOON,SUM,0,0,0,0,0,47,57,31.296164989471436 +42,,SUM,0,0,0,0,0,208,63,53.56212496757507 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,32,53,26.223522901535034 +43,CUP,SUM,1,0,0,1,0,94,49,0.0 +43,SPOON,SUM,0,0,0,0,0,37,5,15.182408094406128 +43,,SUM,1,0,0,1,0,163,107,41.40593099594116 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,40,20,15.528623104095459 +44,CUP,SUM,0,0,0,0,32,96,4,22.032344102859497 +44,SPOON,SUM,1,0,1,0,0,186,0,0.0 +44,,SUM,1,0,1,0,32,322,24,37.560967206954956 +44,, +45,, From ff19f9bb42745bbd61b99f2741569214edf346e5 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Wed, 11 Dec 2019 07:03:14 +0100 Subject: [PATCH 31/38] [kvr] real robot experiments --- .../experiments/failures_VR_another_old.csv | 13 ++++ .../experiments/failures_VR_left_hand.csv | 9 +++ .../experiments/failures_VR_old.csv | 16 +++++ .../experiments/kvr_original_pr2_real.csv | 33 ++++++++++ .../experiments/{ => real}/heur_pr2_real.csv | 0 .../experiments/real/kvr_3var_pr2_real.csv | 63 +++++++++++++++++++ 6 files changed, 134 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv rename cram_knowrob/cram_knowrob_vr/experiments/{ => real}/heur_pr2_real.csv (100%) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv new file mode 100644 index 0000000000..3f6e440f32 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv @@ -0,0 +1,13 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +4,, +4,BOWL,SUM,0,0,0,0,0,16,28,620.2978310585022 +4,CUP,SUM,0,0,0,0,6,13,8,317.3971109390259 +4,, +4,BOWL,SUM,0,0,0,0,0,55,41,699.0059778690338 +4,CUP,SUM,0,0,0,0,0,26,8,250.0178999900818 +4,SPOON,SUM,1,0,1,0,0,136,102,0.0 +4,,SUM,1,0,1,0,0,217,151,949.0238778591156 +4,, +5,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv new file mode 100644 index 0000000000..c0e6b757a3 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv @@ -0,0 +1,9 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +1,, +1,BOWL,SUM,0,0,0,0,0,25,2,252.89764881134033 +1,CUP,SUM,0,0,0,0,0,22,4,280.4551031589508 +1,SPOON,SUM,0,0,0,0,0,27,3,317.24046087265015 +1,,SUM,0,0,0,0,0,74,9,850.5932128429413 +1,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv new file mode 100644 index 0000000000..bdeec50fd1 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv @@ -0,0 +1,16 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +2,BOWL,SUM,0,0,0,0,0,39,2,338.66931986808777 +2,CUP,SUM,1,0,1,0,0,14,34,0.0 +2,SPOON,SUM,1,0,0,1,0,92,31,0.0 +2,,SUM,2,0,1,1,0,145,67,338.66931986808777 +2,, +3,, +3,, +3,BOWL,SUM,0,0,0,0,0,35,5,352.15558910369873 +3,CUP,SUM,0,0,0,0,0,34,4,254.1328239440918 +3,SPOON,SUM,1,0,1,0,0,51,108,0.0 +3,,SUM,1,0,1,0,0,120,117,606.2884130477905 +3,, +4,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv new file mode 100644 index 0000000000..3192643f34 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv @@ -0,0 +1,33 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,2,11,2,275.94864296913147 +0,CUP,SUM,0,0,0,0,2,26,9,299.26485991477966 +0,SPOON,SUM,0,0,0,0,0,417,52,823.3371441364288 +0,,SUM,0,0,0,0,4,454,63,1398.55064702034 +0,, +1,, +1,BOWL,SUM,0,0,0,0,2,10,2,330.8760600090027 +1,CUP,SUM,0,0,0,0,0,18,10,290.7592189311981 +1,SPOON,SUM,0,0,0,0,0,20,4,289.87154603004456 +1,,SUM,0,0,0,0,2,48,16,911.5068249702454 +1,, +2,, +2,BOWL,SUM,0,0,0,0,4,28,21,540.8004508018494 +2,CUP,SUM,0,0,0,0,0,18,5,271.5093071460724 +2,SPOON,SUM,0,0,0,0,0,244,4,360.4742591381073 +2,,SUM,0,0,0,0,4,290,30,1172.784017086029 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,30,9,365.2307140827179 +3,CUP,SUM,0,0,0,0,0,9,13,311.25146293640137 +3,SPOON,SUM,0,0,0,0,0,100,5,318.372887134552 +3,,SUM,0,0,0,0,0,139,27,994.8550641536713 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,26,7,358.6695840358734 +4,CUP,SUM,0,0,0,0,0,10,8,254.58155298233032 +4,SPOON,SUM,0,0,0,0,0,135,3,312.98862886428833 +4,,SUM,0,0,0,0,0,171,18,926.2397658824921 +4,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/real/heur_pr2_real.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_real.csv rename to cram_knowrob/cram_knowrob_vr/experiments/real/heur_pr2_real.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv new file mode 100644 index 0000000000..eaef1d31b7 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,33,7,365.94985008239746 +0,CUP,SUM,0,0,0,0,0,57,7,286.6138548851013 +0,SPOON,SUM,0,0,0,0,0,253,2,325.2419629096985 +0,,SUM,0,0,0,0,0,343,16,977.8056678771973 +0,, +1,, +1,BOWL,SUM,0,0,0,0,2,54,10,419.5659730434418 +1,CUP,SUM,0,0,0,0,0,23,19,365.29664516448975 +1,SPOON,SUM,0,0,0,0,0,106,2,288.97956705093384 +1,,SUM,0,0,0,0,2,183,31,1073.8421852588654 +1,, +2,, +2,BOWL,SUM,0,0,0,0,0,21,2,259.6538689136505 +2,CUP,SUM,0,0,0,0,0,19,9,273.9986779689789 +2,SPOON,SUM,0,0,0,0,2,22,3,309.00118589401245 +2,,SUM,0,0,0,0,2,62,14,842.6537327766418 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,36,2,334.933296918869 +3,CUP,SUM,1,0,1,0,0,486,103,0.0 +3,SPOON,SUM,0,0,0,0,0,38,8,281.98150181770325 +3,,SUM,1,0,1,0,0,560,113,616.9147987365723 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,63,2,316.89944100379944 +4,CUP,SUM,0,0,0,0,0,6,18,340.0977020263672 +4,SPOON,SUM,0,0,0,0,0,87,3,315.7515640258789 +4,,SUM,0,0,0,0,0,156,23,972.7487070560455 +4,, +5,, +5,BOWL,SUM,0,0,0,0,26/5,12,8,370.76336193084717 +5,CUP,SUM,0,0,0,0,0,44,10,252.24900102615356 +5,SPOON,SUM,0,0,0,0,0,7,3,301.9959981441498 +5,,SUM,0,0,0,0,26/5,63,21,925.0083611011505 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,49,9,384.7708830833435 +6,CUP,SUM,0,0,0,0,0,17,7,272.2494421005249 +6,SPOON,SUM,0,0,0,0,2,96,4,309.7554998397827 +6,,SUM,0,0,0,0,2,162,20,966.7758250236511 +6,, +7,, +7,BOWL,SUM,0,0,0,0,4,31,10,472.8920171260834 +7,CUP,SUM,0,0,0,0,0,19,6,303.3928611278534 +7,SPOON,SUM,0,0,0,0,0,218,18,501.08270502090454 +7,,SUM,0,0,0,0,4,268,34,1277.3675832748413 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,23,6,327.0218451023102 +8,CUP,SUM,0,0,0,0,0,31,10,253.1286039352417 +8,SPOON,SUM,0,0,0,0,0,179,11,384.2089059352875 +8,,SUM,0,0,0,0,0,233,27,964.3593549728394 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,64,21,585.2709369659424 +9,CUP,SUM,0,0,0,0,0,113,18,427.6284599304199 +9,SPOON,SUM,0,0,0,0,4,387,10,503.0593378543854 +9,,SUM,0,0,0,0,4,564,49,1515.9587347507477 +9,, From b0ad694db08063d81dbcbd6a6c3736def976a210 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Wed, 11 Dec 2019 07:13:20 +0100 Subject: [PATCH 32/38] [kvr] last real robot experiment --- .../kvr_orig_pr2_real.csv} | 31 +++++++++++++++++++ 1 file changed, 31 insertions(+) rename cram_knowrob/cram_knowrob_vr/experiments/{kvr_original_pr2_real.csv => real/kvr_orig_pr2_real.csv} (53%) diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_orig_pr2_real.csv similarity index 53% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv rename to cram_knowrob/cram_knowrob_vr/experiments/real/kvr_orig_pr2_real.csv index 3192643f34..bebda58197 100644 --- a/cram_knowrob/cram_knowrob_vr/experiments/kvr_original_pr2_real.csv +++ b/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_orig_pr2_real.csv @@ -31,3 +31,34 @@ RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PER 4,SPOON,SUM,0,0,0,0,0,135,3,312.98862886428833 4,,SUM,0,0,0,0,0,171,18,926.2397658824921 4,, +5,, +5,, +5,BOWL,SUM,0,0,0,0,0,32,13,424.11385011672974 +5,CUP,SUM,0,0,0,0,0,198,110,1281.6271591186523 +5,SPOON,SUM,0,0,0,0,0,15,6,288.8606469631195 +5,,SUM,0,0,0,0,0,245,129,1994.6016561985016 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,37,8,374.67651104927063 +6,CUP,SUM,0,0,0,0,0,25,12,312.12598299980164 +6,SPOON,SUM,0,0,0,0,0,32,3,295.2926199436188 +6,,SUM,0,0,0,0,0,94,23,982.095113992691 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,4,10,425.1232850551605 +7,CUP,SUM,0,0,0,0,0,34,18,338.1843798160553 +7,SPOON,SUM,0,0,0,0,0,37,2,289.339595079422 +7,,SUM,0,0,0,0,0,75,30,1052.6472599506378 +7,, +8,, +8,BOWL,SUM,0,0,0,0,2,160,29,772.4567189216614 +8,CUP,SUM,0,0,0,0,24,46,10,655.8776910305023 +8,SPOON,SUM,0,0,0,0,0,20,8,320.9357922077179 +8,,SUM,0,0,0,0,26,226,47,1749.2702021598816 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,90,13,432.4498689174652 +9,CUP,SUM,1,0,0,1,0,190,118,0.0 +9,SPOON,SUM,0,0,0,0,6,9,21,573.8102669715881 +9,,SUM,1,0,0,1,6,289,152,1006.2601358890533 +9,, From f339f887cc6ca618fdcfae59f9482fc72f7378ba Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Wed, 11 Dec 2019 06:58:31 +0100 Subject: [PATCH 33/38] [kvr] experiment data --- .../experiments/failures_VR.csv | 113 +++++++ .../experiments/kvr_boxy_3var_best.csv | 303 ++++++++++++++++++ .../experiments/kvr_pr2_orig_orig_best.csv | 63 ++++ .../experiments/kvr_pr2_orig_var_best.csv | 123 +++++++ .../experiments/kvr_pr2_orig_varhalf_best.csv | 291 +++++++++++++++++ .../{ => old}/kvr_boxy_new_orig.csv | 0 .../{ => old}/kvr_boxy_orig_orig.csv | 0 .../{ => old}/kvr_boxy_orig_orig_50retry.csv | 0 .../experiments/old/kvr_pr2_new_var_old.csv | 174 ++++++++++ .../{ => old}/kvr_pr2_orig_orig_10_retry.csv | 0 .../{ => old}/kvr_pr2_orig_orig_50retry.csv | 0 .../kvr_pr2_orig_orig_failed_a_lot.csv | 0 .../{ => old}/kvr_pr2_orig_orig_retry20.csv | 0 ...vr_pr2_orig_orig_retry30_grasping_hack.csv | 0 .../kvr_pr2_orig_orig_subset_var.csv | 0 .../{ => old}/kvr_pr2_orig_var_50retry.csv | 0 .../old/kvr_pr2_orig_var_not_best.csv | 123 +++++++ .../{ => old}/kvr_pr2_orig_var_subset_var.csv | 0 18 files changed, 1190 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_boxy_new_orig.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_boxy_orig_orig.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_boxy_orig_orig_50retry.csv (100%) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_new_var_old.csv rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_10_retry.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_50retry.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_failed_a_lot.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_retry20.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_retry30_grasping_hack.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_orig_subset_var.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_var_50retry.csv (100%) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_not_best.csv rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/kvr_pr2_orig_var_subset_var.csv (100%) diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv new file mode 100644 index 0000000000..b97e7bdfad --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv @@ -0,0 +1,113 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 +1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 +1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +2,CUP,SUM,1,1,0,0,0,1519,0,0.0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +2,,SUM,3,3,0,0,0,4557,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 +3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +4,CUP,SUM,1,1,0,0,0,1519,0,0.0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +4,,SUM,3,3,0,0,0,4557,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +5,CUP,SUM,1,1,0,0,0,1519,0,0.0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +5,,SUM,3,3,0,0,0,4557,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +6,CUP,SUM,1,1,0,0,0,1519,0,0.0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 +6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +7,CUP,SUM,1,1,0,0,0,1519,0,0.0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +7,,SUM,3,3,0,0,0,4557,0,0.0 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 +8,CUP,SUM,1,1,0,0,0,1519,0,0.0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 +8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +9,CUP,SUM,1,1,0,0,0,1519,0,0.0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +9,,SUM,3,3,0,0,0,4557,0,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 +10,CUP,SUM,1,1,0,0,0,1519,0,0.0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +11,CUP,SUM,1,1,0,0,0,1519,0,0.0 +11,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +11,,SUM,3,3,0,0,0,4557,0,0.0 +11,, +12,, +12,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +12,CUP,SUM,1,1,0,0,0,1519,0,0.0 +12,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +12,,SUM,3,3,0,0,0,4557,0,0.0 +12,, +13,, +13,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +13,CUP,SUM,0,0,0,0,0,4,1,11.309921979904175 +13,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +13,,SUM,2,2,0,0,0,3042,1,11.309921979904175 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,56,4,19.901787042617798 +14,CUP,SUM,1,1,0,0,0,1519,0,0.0 +14,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +14,,SUM,2,2,0,0,0,3094,4,19.901787042617798 +14,, +15,, +15,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +15,CUP,SUM,0,0,0,0,0,80,19,35.60285711288452 +15,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +15,,SUM,2,2,0,0,0,3118,19,35.60285711288452 +15,, +16,, +16,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +16,CUP,SUM,1,1,0,0,0,1519,0,0.0 +16,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +16,,SUM,3,3,0,0,0,4557,0,0.0 +16,, +17,, +17,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +17,CUP,SUM,1,1,0,0,0,1519,0,0.0 +17,SPOON,SUM,0,0,0,0,0,14,0,15.217566013336182 +17,,SUM,2,2,0,0,0,3052,0,15.217566013336182 +17,, +18,, +18,BOWL,SUM,1,1,0,0,0,1519,0,0.0 diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv new file mode 100644 index 0000000000..855226b495 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv @@ -0,0 +1,303 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,2,45,14,35.26452302932739 +0,CUP,SUM,1,0,0,1,0,469,58,0.0 +0,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +0,,SUM,2,0,1,1,2,2095,72,35.26452302932739 +0,, +1,, +1,BOWL,SUM,0,0,0,0,6,28,6,25.85601305961609 +1,CUP,SUM,0,0,0,0,0,13,2,12.409448146820068 +1,SPOON,SUM,0,0,0,0,0,1,14,29.9533531665802 +1,,SUM,0,0,0,0,6,42,22,68.21881437301636 +1,, +2,, +2,BOWL,SUM,1,0,1,0,0,1404,18,0.0 +2,CUP,SUM,0,0,0,0,0,14,10,18.43154788017273 +2,SPOON,SUM,1,0,1,0,0,1564,8,0.0 +2,,SUM,2,0,2,0,0,2982,36,18.43154788017273 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,35,0,15.790754079818726 +3,CUP,SUM,0,0,0,0,0,10,0,11.57533597946167 +3,SPOON,SUM,0,0,0,0,0,36,2,18.805893898010254 +3,,SUM,0,0,0,0,0,81,2,46.17198395729065 +3,, +4,, +4,BOWL,SUM,0,0,0,0,6,45,16,38.230873107910156 +4,CUP,SUM,0,0,0,0,0,92,0,16.134905099868774 +4,SPOON,SUM,0,0,0,0,0,216,0,29.674817085266113 +4,,SUM,0,0,0,0,6,353,16,84.04059529304504 +4,, +5,, +5,BOWL,SUM,0,0,0,0,0,387,2,41.53441596031189 +5,CUP,SUM,0,0,0,0,0,31,2,13.482014179229736 +5,SPOON,SUM,0,0,0,0,0,26,4,17.79829502105713 +5,,SUM,0,0,0,0,0,444,8,72.81472516059875 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,38,13,25.44232702255249 +6,CUP,SUM,0,0,0,0,2,53,7,18.7336528301239 +6,SPOON,SUM,1,0,1,0,2,1581,5,0.0 +6,,SUM,1,0,1,0,4,1672,25,44.17597985267639 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,23,8,20.340171813964844 +7,CUP,SUM,1,0,1,0,2,524,107,0.0 +7,SPOON,SUM,0,0,0,0,0,46,9,36.318702936172485 +7,,SUM,1,0,1,0,2,593,124,56.65887475013733 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,15,5,16.030744791030884 +8,CUP,SUM,0,0,0,0,6,73,0,16.65789484977722 +8,SPOON,SUM,0,0,0,0,0,161,1,29.691219091415405 +8,,SUM,0,0,0,0,6,249,6,62.37985873222351 +8,, +9,, +9,BOWL,SUM,0,0,0,0,0,167,8,33.539669036865234 +9,CUP,SUM,0,0,0,0,0,9,4,12.90775179862976 +9,SPOON,SUM,0,0,0,0,4,567,4,52.225929975509644 +9,,SUM,0,0,0,0,4,743,16,98.67335081100464 +9,, +10,, +10,BOWL,SUM,0,0,0,0,6,29,5,23.604433059692383 +10,CUP,SUM,0,0,0,0,8,12,8,18.779245138168335 +10,SPOON,SUM,0,0,0,0,0,35,0,17.461730003356934 +10,,SUM,0,0,0,0,14,76,13,59.84540820121765 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,64,7,21.09502100944519 +11,CUP,SUM,0,0,0,0,2,6,6,14.86521601676941 +11,SPOON,SUM,0,0,0,0,0,130,0,25.152591943740845 +11,,SUM,0,0,0,0,2,200,13,61.112828969955444 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,100,3,24.63730812072754 +12,CUP,SUM,1,0,1,0,0,438,115,0.0 +12,SPOON,SUM,0,0,0,0,0,14,0,16.512137174606323 +12,,SUM,1,0,1,0,0,552,118,41.14944529533386 +12,, +13,, +13,BOWL,SUM,0,0,0,0,0,28,6,17.39031481742859 +13,CUP,SUM,0,0,0,0,2,44,9,20.80741310119629 +13,SPOON,SUM,0,0,0,0,2,12,4,18.434448957443237 +13,,SUM,0,0,0,0,4,84,19,56.632176876068115 +13,, +14,, +14,BOWL,SUM,0,0,0,0,6,11,5,25.677917957305908 +14,CUP,SUM,1,0,1,0,6,382,108,0.0 +14,SPOON,SUM,0,0,0,0,0,17,9,33.09389805793762 +14,,SUM,1,0,1,0,12,410,122,58.77181601524353 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,182,0,24.333861827850342 +15,CUP,SUM,0,0,0,0,0,26,7,14.393471002578735 +15,SPOON,SUM,0,0,0,0,0,15,2,18.83298110961914 +15,,SUM,0,0,0,0,0,223,9,57.56031394004822 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,45,1,16.495805025100708 +16,CUP,SUM,0,0,0,0,16,24,6,24.350743055343628 +16,SPOON,SUM,0,0,0,0,0,907,4,78.50611186027527 +16,,SUM,0,0,0,0,16,976,11,119.3526599407196 +16,, +17,, +17,BOWL,SUM,0,0,0,0,0,53,6,27.511013984680176 +17,CUP,SUM,1,0,1,0,2,855,90,0.0 +17,SPOON,SUM,0,0,0,0,0,87,7,30.62739896774292 +17,,SUM,1,0,1,0,2,995,103,58.138412952423096 +17,, +18,, +18,BOWL,SUM,0,0,0,0,0,24,0,13.885917901992798 +18,CUP,SUM,0,0,0,0,6,56,4,18.6828670501709 +18,SPOON,SUM,0,0,0,0,4,6,1,18.861089944839478 +18,,SUM,0,0,0,0,10,86,5,51.429874897003174 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,55,4,17.536975145339966 +19,CUP,SUM,0,0,0,0,0,22,2,12.047250986099243 +19,SPOON,SUM,0,0,0,0,8,3,0,21.359088897705078 +19,,SUM,0,0,0,0,8,80,6,50.94331502914429 +19,, +20,, +20,BOWL,SUM,0,0,0,0,0,82,7,25.10892605781555 +20,CUP,SUM,1,0,1,0,0,465,110,0.0 +20,SPOON,SUM,0,0,0,0,0,7,10,32.079673051834106 +20,,SUM,1,0,1,0,0,554,127,57.18859910964966 +20,, +21,, +21,BOWL,SUM,1,0,1,0,2,1587,13,0.0 +21,CUP,SUM,1,0,1,0,0,610,104,0.0 +21,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +21,,SUM,3,0,3,0,2,3778,117,0.0 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,75,6,26.107800006866455 +22,CUP,SUM,0,0,0,0,0,12,10,16.855175971984863 +22,SPOON,SUM,0,0,0,0,8,101,0,27.97274684906006 +22,,SUM,0,0,0,0,8,188,16,70.93572282791138 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,14,7,21.378226041793823 +23,CUP,SUM,1,0,0,1,8,574,114,0.0 +23,SPOON,SUM,0,0,0,0,0,241,7,47.047467947006226 +23,,SUM,1,0,0,1,8,829,128,68.42569398880005 +23,, +24,, +24,BOWL,SUM,0,0,0,0,6,44,0,18.01453399658203 +24,CUP,SUM,0,0,0,0,0,44,2,12.958813905715942 +24,SPOON,SUM,1,0,1,0,6,1568,5,0.0 +24,,SUM,1,0,1,0,12,1656,7,30.973347902297974 +24,, +25,, +25,BOWL,SUM,0,0,0,0,0,119,4,21.42752504348755 +25,CUP,SUM,0,0,0,0,6,23,5,16.091768980026245 +25,SPOON,SUM,0,0,0,0,0,1,3,22.663936853408813 +25,,SUM,0,0,0,0,6,143,12,60.18323087692261 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,151,3,24.114493131637573 +26,CUP,SUM,0,0,0,0,0,54,9,16.781694173812866 +26,SPOON,SUM,0,0,0,0,0,5,1,17.97213387489319 +26,,SUM,0,0,0,0,0,210,13,58.86832118034363 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,30,4,21.774598121643066 +27,CUP,SUM,0,0,0,0,0,17,2,13.456995010375977 +27,SPOON,SUM,0,0,0,0,0,13,0,16.910961151123047 +27,,SUM,0,0,0,0,0,60,6,52.14255428314209 +27,, +28,, +28,BOWL,SUM,0,0,0,0,4,214,12,35.60226106643677 +28,CUP,SUM,0,0,0,0,0,21,4,13.346338033676147 +28,SPOON,SUM,0,0,0,0,0,175,0,27.523408889770508 +28,,SUM,0,0,0,0,4,410,16,76.47200798988342 +28,, +29,, +29,BOWL,SUM,0,0,0,0,6,37,4,17.56292486190796 +29,CUP,SUM,0,0,0,0,0,75,11,24.25345206260681 +29,SPOON,SUM,0,0,0,0,0,11,0,16.537650108337402 +29,,SUM,0,0,0,0,6,123,15,58.35402703285217 +29,, +30,, +30,BOWL,SUM,1,0,1,0,0,1500,22,0.0 +30,CUP,SUM,0,0,0,0,0,13,6,12.961507797241211 +30,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +30,,SUM,2,0,2,0,0,3094,28,12.961507797241211 +30,, +31,, +31,BOWL,SUM,0,0,0,0,0,42,18,26.60525608062744 +31,CUP,SUM,1,0,1,0,8,1123,63,0.0 +31,SPOON,SUM,0,0,0,0,0,25,1,19.352105140686035 +31,,SUM,1,0,1,0,8,1190,82,45.95736122131348 +31,, +32,, +32,BOWL,SUM,0,0,0,0,0,208,24,54.39823794364929 +32,CUP,SUM,0,0,0,0,0,26,4,12.791224002838135 +32,SPOON,SUM,0,0,0,0,0,391,1,41.84676504135132 +32,,SUM,0,0,0,0,0,625,29,109.03622698783875 +32,, +33,, +33,BOWL,SUM,0,0,0,0,0,77,7,25.586490869522095 +33,CUP,SUM,1,0,1,0,26,129,109,0.0 +33,SPOON,SUM,0,0,0,0,8,0,0,22.6729838848114 +33,,SUM,1,0,1,0,34,206,116,48.259474754333496 +33,, +34,, +34,BOWL,SUM,1,0,1,0,10,1247,53,0.0 +34,CUP,SUM,1,0,1,0,2,221,112,0.0 +34,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +34,,SUM,3,0,3,0,12,3049,165,0.0 +34,, +35,, +35,BOWL,SUM,1,0,1,0,0,1241,28,0.0 +35,CUP,SUM,0,0,0,0,0,5,4,12.96828579902649 +35,SPOON,SUM,0,0,0,0,4,78,0,23.940156936645508 +35,,SUM,1,0,1,0,4,1324,32,36.908442735672 +35,, +36,, +36,BOWL,SUM,0,0,0,0,0,6,2,14.210785865783691 +36,CUP,SUM,0,0,0,0,18,40,2,28.262330055236816 +36,SPOON,SUM,0,0,0,0,0,58,5,29.730287075042725 +36,,SUM,0,0,0,0,18,104,9,72.20340299606323 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,323,2,40.30579400062561 +37,CUP,SUM,0,0,0,0,0,38,4,12.771619081497192 +37,SPOON,SUM,0,0,0,0,0,33,11,41.81716799736023 +37,,SUM,0,0,0,0,0,394,17,94.89458107948303 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,114,2,23.842216968536377 +38,CUP,SUM,0,0,0,0,0,77,28,39.54249405860901 +38,SPOON,SUM,1,0,1,0,2,1567,5,0.0 +38,,SUM,1,0,1,0,2,1758,35,63.384711027145386 +38,, +39,, +39,BOWL,SUM,1,0,1,0,8,1517,13,0.0 +39,CUP,SUM,0,0,0,0,0,26,0,12.114723920822144 +39,SPOON,SUM,0,0,0,0,8,243,4,37.027223110198975 +39,,SUM,1,0,1,0,16,1786,17,49.14194703102112 +39,, +40,, +40,BOWL,SUM,1,0,1,0,0,933,70,0.0 +40,CUP,SUM,0,0,0,0,0,13,4,13.071056127548218 +40,SPOON,SUM,0,0,0,0,30,173,0,39.960164070129395 +40,,SUM,1,0,1,0,30,1119,74,53.03122019767761 +40,, +41,, +41,BOWL,SUM,1,0,1,0,0,1549,6,0.0 +41,CUP,SUM,0,0,0,0,10,13,6,23.908283948898315 +41,SPOON,SUM,0,0,0,0,0,76,4,21.21236801147461 +41,,SUM,1,0,1,0,10,1638,16,45.120651960372925 +41,, +42,, +42,BOWL,SUM,0,0,0,0,14,177,16,43.287765979766846 +42,CUP,SUM,1,0,1,0,0,374,106,0.0 +42,SPOON,SUM,0,0,0,0,34,131,2,46.55565309524536 +42,,SUM,1,0,1,0,48,682,124,89.8434190750122 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,39,4,19.90210795402527 +43,CUP,SUM,0,0,0,0,2,41,4,14.28514289855957 +43,SPOON,SUM,0,0,0,0,0,120,1,25.053864002227783 +43,,SUM,0,0,0,0,2,200,9,59.24111485481262 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,192,6,30.820032835006714 +44,CUP,SUM,1,0,1,0,0,775,53,0.0 +44,SPOON,SUM,0,0,0,0,0,22,0,16.17891001701355 +44,,SUM,1,0,1,0,0,989,59,46.998942852020264 +44,, +45,, +45,BOWL,SUM,0,0,0,0,0,46,6,25.13912296295166 +45,CUP,SUM,1,0,1,0,6,225,112,0.0 +45,SPOON,SUM,0,0,0,0,0,114,9,44.78759503364563 +45,,SUM,1,0,1,0,6,385,127,69.92671799659729 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,49,5,20.763957023620605 +46,CUP,SUM,1,0,1,0,2,206,111,0.0 +46,SPOON,SUM,0,0,0,0,0,118,0,23.122469186782837 +46,,SUM,1,0,1,0,2,373,116,43.88642621040344 +46,, +47,, +47,BOWL,SUM,0,0,0,0,0,26,0,14.366594076156616 +47,CUP,SUM,1,0,1,0,4,521,99,0.0 +47,SPOON,SUM,0,0,0,0,0,13,2,17.05501699447632 +47,,SUM,1,0,1,0,4,560,101,31.421611070632935 +47,, +48,, +48,BOWL,SUM,0,0,0,0,2,415,8,46.314335107803345 +48,CUP,SUM,0,0,0,0,0,17,11,17.968498945236206 +48,SPOON,SUM,0,0,0,0,0,37,0,18.874425172805786 +48,,SUM,0,0,0,0,2,469,19,83.15725922584534 +48,, +49,, +49,BOWL,SUM,0,0,0,0,14,662,11,75.74930500984192 +49,CUP,SUM,1,0,1,0,0,223,81,0.0 +49,SPOON,SUM,0,0,0,0,0,98,7,38.095966815948486 +49,,SUM,1,0,1,0,14,983,99,113.8452718257904 +49,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv new file mode 100644 index 0000000000..99afcf48a8 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv @@ -0,0 +1,63 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +20,, +20,BOWL,SUM,0,0,0,0,2,47,0,13.78581714630127 +20,CUP,SUM,1,0,0,1,2,188,58,0.0 +20,SPOON,SUM,0,0,0,0,0,125,0,20.95003318786621 +20,,SUM,1,0,0,1,4,360,58,34.73585033416748 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,53,0,13.247747898101807 +21,CUP,SUM,0,0,0,0,0,27,14,24.23551607131958 +21,SPOON,SUM,0,0,0,0,0,80,2,18.07046103477478 +21,,SUM,0,0,0,0,0,160,16,55.55372500419617 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,15,0,11.859118938446045 +22,CUP,SUM,0,0,0,0,0,33,13,19.584190845489502 +22,SPOON,SUM,0,0,0,0,16,63,2,24.22484803199768 +22,,SUM,0,0,0,0,16,111,15,55.66815781593323 +22,, +23,, +23,BOWL,SUM,0,0,0,0,0,13,0,10.66537094116211 +23,CUP,SUM,1,0,1,0,0,280,81,0.0 +23,SPOON,SUM,0,0,0,0,0,0,0,13.794100999832153 +23,,SUM,1,0,1,0,0,293,81,24.459471940994263 +23,, +24,, +24,BOWL,SUM,0,0,0,0,2,5,0,10.852939128875732 +24,CUP,SUM,1,0,0,1,0,185,51,0.0 +24,SPOON,SUM,0,0,0,0,0,35,0,15.279842853546143 +24,,SUM,1,0,0,1,2,225,51,26.132781982421875 +24,, +25,, +25,BOWL,SUM,0,0,0,0,0,17,0,10.735448837280273 +25,CUP,SUM,0,0,0,0,0,10,5,11.906934022903442 +25,SPOON,SUM,0,0,0,0,2,17,3,16.28773283958435 +25,,SUM,0,0,0,0,2,44,8,38.930115699768066 +25,, +26,, +26,BOWL,SUM,0,0,0,0,0,9,0,10.646228075027466 +26,CUP,SUM,1,0,0,1,0,228,54,0.0 +26,SPOON,SUM,0,0,0,0,0,29,0,14.428622961044312 +26,,SUM,1,0,0,1,0,266,54,25.074851036071777 +26,, +27,, +27,BOWL,SUM,0,0,0,0,0,0,0,10.294739961624146 +27,CUP,SUM,0,0,0,0,0,37,9,15.870995044708252 +27,SPOON,SUM,0,0,0,0,0,1,2,13.735243082046509 +27,,SUM,0,0,0,0,0,38,11,39.900978088378906 +27,, +28,, +28,BOWL,SUM,0,0,0,0,0,11,0,10.87513017654419 +28,CUP,SUM,0,0,0,0,0,22,1,10.793434143066406 +28,SPOON,SUM,0,0,0,0,0,49,0,15.872761011123657 +28,,SUM,0,0,0,0,0,82,1,37.54132533073425 +28,, +29,, +29,BOWL,SUM,0,0,0,0,2,11,0,11.241461992263794 +29,CUP,SUM,0,0,0,0,2,16,10,18.71555995941162 +29,SPOON,SUM,0,0,0,0,0,2,3,15.333929061889648 +29,,SUM,0,0,0,0,4,29,13,45.29095101356506 +29,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv new file mode 100644 index 0000000000..bb3024d8ba --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv @@ -0,0 +1,123 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +30,, +30,BOWL,SUM,0,0,0,0,2,25,3,15.176192998886108 +30,CUP,SUM,1,0,0,1,0,311,72,0.0 +30,SPOON,SUM,0,0,0,0,0,82,3,21.904402017593384 +30,,SUM,1,0,0,1,2,418,78,37.08059501647949 +30,, +31,, +31,BOWL,SUM,0,0,0,0,2,17,1,14.191196918487549 +31,CUP,SUM,0,0,0,0,0,33,5,11.319457054138184 +31,SPOON,SUM,0,0,0,0,0,108,6,30.83554196357727 +31,,SUM,0,0,0,0,2,158,12,56.346195936203 +31,, +32,, +32,BOWL,SUM,0,0,0,0,0,29,2,12.624501943588257 +32,CUP,SUM,1,0,0,1,0,322,74,0.0 +32,SPOON,SUM,0,0,0,0,0,1,1,15.137447118759155 +32,,SUM,1,0,0,1,0,352,77,27.761949062347412 +32,, +33,, +33,BOWL,SUM,0,0,0,0,8,72,5,21.26604413986206 +33,CUP,SUM,0,0,0,0,2,37,2,15.092926025390625 +33,SPOON,SUM,0,0,0,0,0,52,0,17.986762046813965 +33,,SUM,0,0,0,0,10,161,7,54.34573221206665 +33,, +34,, +34,BOWL,SUM,0,0,0,0,0,58,0,14.654443979263306 +34,CUP,SUM,0,0,0,0,0,33,0,11.376353025436401 +34,SPOON,SUM,0,0,0,0,6,90,0,22.241242170333862 +34,,SUM,0,0,0,0,6,181,0,48.27203917503357 +34,, +35,, +35,BOWL,SUM,0,0,0,0,0,33,3,14.326218128204346 +35,CUP,SUM,0,0,0,0,0,9,6,10.497527122497559 +35,SPOON,SUM,0,0,0,0,4,114,0,22.181149005889893 +35,,SUM,0,0,0,0,4,156,9,47.0048942565918 +35,, +36,, +36,BOWL,SUM,1,0,1,0,56,709,92,0.0 +36,CUP,SUM,0,0,0,0,6,24,0,13.171665906906128 +36,SPOON,SUM,0,0,0,0,0,5,0,14.967988014221191 +36,,SUM,1,0,1,0,62,738,92,28.13965392112732 +36,, +37,, +37,BOWL,SUM,0,0,0,0,0,21,4,14.213629007339478 +37,CUP,SUM,0,0,0,0,0,10,2,10.409108877182007 +37,SPOON,SUM,0,0,0,0,4,9,11,27.090785026550293 +37,,SUM,0,0,0,0,4,40,17,51.71352291107178 +37,, +38,, +38,BOWL,SUM,0,0,0,0,0,23,4,14.445498943328857 +38,CUP,SUM,0,0,0,0,0,79,14,21.001418113708496 +38,SPOON,SUM,0,0,0,0,0,16,8,23.722058057785034 +38,,SUM,0,0,0,0,0,118,26,59.16897511482239 +38,, +39,, +39,BOWL,SUM,0,0,0,0,0,40,4,16.103780031204224 +39,CUP,SUM,0,0,0,0,2,11,0,11.215667009353638 +39,SPOON,SUM,0,0,0,0,0,1,1,16.523443937301636 +39,,SUM,0,0,0,0,2,52,5,43.8428909778595 +39,, +40,, +40,BOWL,SUM,0,0,0,0,0,12,0,12.185853958129883 +40,CUP,SUM,0,0,0,0,2,32,4,11.859659910202026 +40,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +40,,SUM,1,0,1,0,2,1625,4,24.04551386833191 +40,, +41,, +41,BOWL,SUM,0,0,0,0,0,55,0,14.7917799949646 +41,CUP,SUM,1,0,0,1,0,312,50,0.0 +41,SPOON,SUM,0,0,0,0,2,355,2,39.10470986366272 +41,,SUM,1,0,0,1,2,722,52,53.89648985862732 +41,, +42,, +42,BOWL,SUM,0,0,0,0,26,159,16,43.63910412788391 +42,CUP,SUM,0,0,0,0,0,37,5,19.566689014434814 +42,SPOON,SUM,0,0,0,0,0,78,5,25.31734800338745 +42,,SUM,0,0,0,0,26,274,26,88.52314114570618 +42,, +43,, +43,BOWL,SUM,0,0,0,0,0,41,3,16.09066605567932 +43,CUP,SUM,0,0,0,0,0,8,10,12.512807130813599 +43,SPOON,SUM,0,0,0,0,0,114,0,22.12491202354431 +43,,SUM,0,0,0,0,0,163,13,50.72838521003723 +43,, +44,, +44,BOWL,SUM,0,0,0,0,0,9,0,11.853585958480835 +44,CUP,SUM,0,0,0,0,0,4,6,10.589781999588013 +44,SPOON,SUM,0,0,0,0,0,25,1,17.042464017868042 +44,,SUM,0,0,0,0,0,38,7,39.48583197593689 +44,, +45,, +45,BOWL,SUM,0,0,0,0,2,10,2,13.216369867324829 +45,CUP,SUM,0,0,0,0,0,11,5,10.870016098022461 +45,SPOON,SUM,0,0,0,0,0,475,2,48.28839898109436 +45,,SUM,0,0,0,0,2,496,9,72.37478494644165 +45,, +46,, +46,BOWL,SUM,0,0,0,0,0,64,8,19.686548948287964 +46,CUP,SUM,0,0,0,0,0,9,0,10.32280707359314 +46,SPOON,SUM,0,0,0,0,0,1,1,16.505611896514893 +46,,SUM,0,0,0,0,0,74,9,46.514967918395996 +46,, +47,, +47,BOWL,SUM,0,0,0,0,0,55,3,15.032520771026611 +47,CUP,SUM,0,0,0,0,0,20,2,10.923398971557617 +47,SPOON,SUM,0,0,0,0,0,80,2,19.789910078048706 +47,,SUM,0,0,0,0,0,155,7,45.745829820632935 +47,, +48,, +48,BOWL,SUM,0,0,0,0,0,9,0,12.139205932617188 +48,CUP,SUM,0,0,0,0,0,58,15,30.707082986831665 +48,SPOON,SUM,0,0,0,0,0,23,6,19.366377115249634 +48,,SUM,0,0,0,0,0,90,21,62.212666034698486 +48,, +49,, +49,BOWL,SUM,0,0,0,0,0,8,0,12.491016149520874 +49,CUP,SUM,0,0,0,0,0,18,5,11.428593873977661 +49,SPOON,SUM,0,0,0,0,6,61,6,23.46119499206543 +49,,SUM,0,0,0,0,6,87,11,47.380805015563965 +49,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv new file mode 100644 index 0000000000..e856c5c9cc --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv @@ -0,0 +1,291 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +50,, +50,BOWL,SUM,0,0,0,0,0,14,4,10.599961042404175 +50,CUP,SUM,0,0,0,0,0,5,0,6.82976508140564 +50,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +50,,SUM,1,0,1,0,2,1600,4,17.429726123809814 +50,, +51,, +51,BOWL,SUM,0,0,0,0,0,12,0,8.819735050201416 +51,CUP,SUM,0,0,0,0,2,50,5,13.62477707862854 +51,SPOON,SUM,0,0,0,0,0,0,0,11.77640700340271 +51,,SUM,0,0,0,0,2,62,5,34.220919132232666 +51,, +52,, +52,BOWL,SUM,0,0,0,0,0,43,0,10.358792066574097 +52,CUP,SUM,0,0,0,0,2,12,4,7.626431941986084 +52,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +52,,SUM,1,0,1,0,2,1636,4,17.98522400856018 +52,, +53,, +53,BOWL,SUM,0,0,0,0,0,30,12,15.279633045196533 +53,CUP,SUM,0,0,0,0,0,16,7,8.061570882797241 +53,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +53,,SUM,1,0,1,0,0,1627,19,23.341203927993774 +53,, +54,, +54,BOWL,SUM,0,0,0,0,0,20,0,8.824887990951538 +54,CUP,SUM,0,0,0,0,0,46,2,7.7838640213012695 +54,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +54,,SUM,1,0,1,0,0,1647,2,16.608752012252808 +54,, +55,, +55,BOWL,SUM,0,0,0,0,0,22,2,9.265057802200317 +55,CUP,SUM,1,0,1,0,0,261,111,0.0 +55,SPOON,SUM,0,0,0,0,0,0,6,14.802527904510498 +55,,SUM,1,0,1,0,0,283,119,24.067585706710815 +55,, +56,, +56,BOWL,SUM,0,0,0,0,0,11,4,10.86034893989563 +56,CUP,SUM,0,0,0,0,0,32,1,9.013726949691772 +56,SPOON,SUM,0,0,0,0,0,0,7,16.014787197113037 +56,,SUM,0,0,0,0,0,43,12,35.88886308670044 +56,, +57,, +57,BOWL,SUM,0,0,0,0,0,12,0,8.734523057937622 +57,CUP,SUM,0,0,0,0,42,59,86,71.68465900421143 +57,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +57,,SUM,1,0,1,0,42,1652,86,80.41918206214905 +57,, +58,, +58,BOWL,SUM,0,0,0,0,0,18,3,10.268955945968628 +58,CUP,SUM,0,0,0,0,2,197,38,42.9977490901947 +58,SPOON,SUM,1,0,1,0,2,1326,42,0.0 +58,,SUM,1,0,1,0,4,1541,83,53.26670503616333 +58,, +59,, +59,BOWL,SUM,0,0,0,0,2,31,0,9.98353886604309 +59,CUP,SUM,0,0,0,0,0,30,14,18.098119020462036 +59,SPOON,SUM,0,0,0,0,6,6,3,15.140197038650513 +59,,SUM,0,0,0,0,8,67,17,43.22185492515564 +59,, +60,, +60,BOWL,SUM,0,0,0,0,0,37,0,10.481428861618042 +60,CUP,SUM,0,0,0,0,0,61,13,17.97027897834778 +60,SPOON,SUM,0,0,0,0,0,0,0,12.089012861251831 +60,,SUM,0,0,0,0,0,98,13,40.54072070121765 +60,, +61,, +61,BOWL,SUM,0,0,0,0,0,23,4,10.518329858779907 +61,CUP,SUM,0,0,0,0,2,10,8,8.249943971633911 +61,SPOON,SUM,0,0,0,0,0,33,5,15.682204961776733 +61,,SUM,0,0,0,0,2,66,17,34.45047879219055 +61,, +62,, +62,BOWL,SUM,0,0,0,0,2,3,0,9.43644905090332 +62,CUP,SUM,0,0,0,0,0,83,13,18.08749008178711 +62,SPOON,SUM,0,0,0,0,0,367,2,29.182981967926025 +62,,SUM,0,0,0,0,2,453,15,56.706921100616455 +62,, +63,, +63,BOWL,SUM,0,0,0,0,6,2,0,10.693027973175049 +63,CUP,SUM,0,0,0,0,0,104,22,19.450329065322876 +63,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +63,,SUM,1,0,1,0,8,1687,22,30.143357038497925 +63,, +64,, +64,BOWL,SUM,1,0,1,0,0,1285,40,0.0 +64,CUP,SUM,0,0,0,0,0,35,0,7.634438991546631 +64,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +64,,SUM,2,0,2,0,0,2901,40,7.634438991546631 +64,, +65,, +65,BOWL,SUM,1,0,1,0,0,549,102,0.0 +65,CUP,SUM,0,0,0,0,0,26,1,7.4246909618377686 +65,SPOON,SUM,0,0,0,0,0,0,1,12.8157958984375 +65,,SUM,1,0,1,0,0,575,104,20.24048686027527 +65,, +66,, +66,BOWL,SUM,0,0,0,0,0,10,2,9.116393089294434 +66,CUP,SUM,0,0,0,0,38,52,13,29.734323978424072 +66,SPOON,SUM,0,0,0,0,0,34,29,28.66660189628601 +66,,SUM,0,0,0,0,38,96,44,67.51731896400452 +66,, +67,, +67,BOWL,SUM,1,1,0,0,160,78,0,0.0 +67,CUP,SUM,0,0,0,0,0,14,7,8.952981948852539 +67,SPOON,SUM,1,0,1,0,0,1582,0,0.0 +67,,SUM,2,1,1,0,160,1674,7,8.952981948852539 +67,, +68,, +68,BOWL,SUM,0,0,0,0,0,16,0,9.423910140991211 +68,CUP,SUM,0,0,0,0,0,26,10,12.244262933731079 +68,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +68,,SUM,1,0,1,0,0,1623,10,21.66817307472229 +68,, +69,, +69,BOWL,SUM,0,0,0,0,0,10,0,8.93390703201294 +69,CUP,SUM,1,0,0,1,0,285,51,0.0 +69,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +69,,SUM,2,0,1,1,0,1876,51,8.93390703201294 +69,, +70,, +70,BOWL,SUM,0,0,0,0,0,8,0,9.032894134521484 +70,CUP,SUM,1,0,1,0,4,244,71,0.0 +70,SPOON,SUM,0,0,0,0,0,176,4,23.54850196838379 +70,,SUM,1,0,1,0,4,428,75,32.58139610290527 +70,, +71,, +71,BOWL,SUM,0,0,0,0,0,13,0,9.875010013580322 +71,CUP,SUM,0,0,0,0,0,28,0,7.775708913803101 +71,SPOON,SUM,1,0,1,0,0,592,102,0.0 +71,,SUM,1,0,1,0,0,633,102,17.650718927383423 +71,, +72,, +72,BOWL,SUM,0,0,0,0,0,14,0,9.158792972564697 +72,CUP,SUM,1,0,0,1,0,242,53,0.0 +72,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +72,,SUM,2,0,1,1,0,1837,53,9.158792972564697 +72,, +73,, +73,BOWL,SUM,0,0,0,0,0,8,4,10.863928079605103 +73,CUP,SUM,0,0,0,0,0,14,7,9.10171389579773 +73,SPOON,SUM,0,0,0,0,0,0,1,13.112598180770874 +73,,SUM,0,0,0,0,0,22,12,33.078240156173706 +73,, +74,, +74,BOWL,SUM,1,0,1,0,0,1581,0,0.0 +74,CUP,SUM,0,0,0,0,0,298,40,46.43463110923767 +74,SPOON,SUM,0,0,0,0,0,11,2,14.50262999534607 +74,,SUM,1,0,1,0,0,1890,42,60.93726110458374 +74,, +75,, +75,BOWL,SUM,0,0,0,0,0,10,2,9.391451835632324 +75,CUP,SUM,0,0,0,0,2,5,8,8.284360885620117 +75,SPOON,SUM,0,0,0,0,0,27,0,12.70317792892456 +75,,SUM,0,0,0,0,2,42,10,30.378990650177002 +75,, +76,, +76,BOWL,SUM,0,0,0,0,2,17,8,13.663438081741333 +76,CUP,SUM,0,0,0,0,0,162,47,42.28623414039612 +76,SPOON,SUM,1,0,1,0,54,1062,0,0.0 +76,,SUM,1,0,1,0,56,1241,55,55.94967222213745 +76,, +77,, +77,BOWL,SUM,0,0,0,0,0,31,6,11.966325998306274 +77,CUP,SUM,1,0,0,1,0,305,51,0.0 +77,SPOON,SUM,0,0,0,0,0,77,1,16.68572688102722 +77,,SUM,1,0,0,1,0,413,58,28.652052879333496 +77,, +78,, +78,BOWL,SUM,0,0,0,0,0,7,0,9.105072021484375 +78,CUP,SUM,0,0,0,0,0,51,10,14.868062019348145 +78,SPOON,SUM,0,0,0,0,0,0,2,12.604153871536255 +78,,SUM,0,0,0,0,0,58,12,36.577287912368774 +78,, +79,, +79,BOWL,SUM,0,0,0,0,0,19,1,9.620437860488892 +79,CUP,SUM,1,0,1,0,0,143,112,0.0 +79,SPOON,SUM,1,0,1,0,0,899,78,0.0 +79,,SUM,2,0,2,0,0,1061,191,9.620437860488892 +79,, +80,, +80,BOWL,SUM,0,0,0,0,0,12,8,12.730754137039185 +80,CUP,SUM,0,0,0,0,0,18,5,10.660567045211792 +80,SPOON,SUM,0,0,0,0,0,6,13,20.492497205734253 +80,,SUM,0,0,0,0,0,36,26,43.88381838798523 +80,, +81,, +81,BOWL,SUM,0,0,0,0,0,14,8,13.050469160079956 +81,CUP,SUM,0,0,0,0,0,148,32,36.885241985321045 +81,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +81,,SUM,1,0,1,0,0,1743,40,49.935711145401 +81,, +82,, +82,BOWL,SUM,0,0,0,0,0,271,2,22.20917582511902 +82,CUP,SUM,0,0,0,0,0,85,30,29.510241985321045 +82,SPOON,SUM,1,0,1,0,10,1587,0,0.0 +82,,SUM,1,0,1,0,10,1943,32,51.71941781044006 +82,, +83,, +83,BOWL,SUM,0,0,0,0,0,14,0,9.251063823699951 +83,CUP,SUM,0,0,0,0,0,41,5,9.406798839569092 +83,SPOON,SUM,1,0,1,0,2,1581,0,0.0 +83,,SUM,1,0,1,0,2,1636,5,18.657862663269043 +83,, +84,, +84,BOWL,SUM,0,0,0,0,0,35,6,12.497748136520386 +84,CUP,SUM,1,0,1,0,4,320,110,0.0 +84,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +84,,SUM,2,0,2,0,4,1936,116,12.497748136520386 +84,, +85,, +85,BOWL,SUM,0,0,0,0,0,120,2,14.380787134170532 +85,CUP,SUM,0,0,0,0,6,93,31,36.29663109779358 +85,SPOON,SUM,0,0,0,0,0,38,0,14.628196001052856 +85,,SUM,0,0,0,0,6,251,33,65.30561423301697 +85,, +86,, +86,BOWL,SUM,1,0,1,0,0,1013,64,0.0 +86,CUP,SUM,0,0,0,0,0,20,4,8.184858083724976 +86,SPOON,SUM,0,0,0,0,0,0,2,12.805813074111938 +86,,SUM,1,0,1,0,0,1033,70,20.990671157836914 +86,, +87,, +87,BOWL,SUM,0,0,0,0,0,17,1,10.491102933883667 +87,CUP,SUM,0,0,0,0,2,106,30,27.989120960235596 +87,SPOON,SUM,0,0,0,0,0,2,7,17.713347911834717 +87,,SUM,0,0,0,0,2,125,38,56.19357180595398 +87,, +88,, +88,BOWL,SUM,1,0,1,0,0,491,102,0.0 +88,CUP,SUM,0,0,0,0,0,23,9,9.6980140209198 +88,SPOON,SUM,0,0,0,0,0,0,4,13.845911979675293 +88,,SUM,1,0,1,0,0,514,115,23.543926000595093 +88,, +89,, +89,BOWL,SUM,0,0,0,0,72,112,4,48.080251932144165 +89,CUP,SUM,0,0,0,0,0,17,2,9.52760910987854 +89,SPOON,SUM,0,0,0,0,0,4,2,12.896147966384888 +89,,SUM,0,0,0,0,72,133,8,70.50400900840759 +89,, +90,, +90,BOWL,SUM,1,0,1,0,0,714,88,0.0 +90,CUP,SUM,0,0,0,0,6,6,9,13.423007011413574 +90,SPOON,SUM,1,0,1,0,0,1590,0,0.0 +90,,SUM,2,0,2,0,6,2310,97,13.423007011413574 +90,, +91,, +91,BOWL,SUM,0,0,0,0,6,201,12,24.63028907775879 +91,CUP,SUM,1,0,0,1,0,357,58,0.0 +91,SPOON,SUM,0,0,0,0,0,0,14,19.229068994522095 +91,,SUM,1,0,0,1,6,558,84,43.859358072280884 +91,, +92,, +92,BOWL,SUM,0,0,0,0,0,11,0,9.569445133209229 +92,CUP,SUM,1,0,0,1,2,288,57,0.0 +92,SPOON,SUM,1,0,1,0,16,1452,0,0.0 +92,,SUM,2,0,1,1,18,1751,57,9.569445133209229 +92,, +93,, +93,BOWL,SUM,0,0,0,0,0,2,0,9.265429973602295 +93,CUP,SUM,0,0,0,0,0,5,0,7.2139599323272705 +93,SPOON,SUM,0,0,0,0,4,9,4,15.813823938369751 +93,,SUM,0,0,0,0,4,16,4,32.293213844299316 +93,, +94,, +94,BOWL,SUM,0,0,0,0,0,85,19,22.648711919784546 +94,CUP,SUM,0,0,0,0,0,22,2,8.69812798500061 +94,SPOON,SUM,0,0,0,0,4,4,10,19.86899209022522 +94,,SUM,0,0,0,0,4,111,31,51.215831995010376 +94,, +95,, +95,BOWL,SUM,0,0,0,0,0,32,0,10.771960020065308 +95,CUP,SUM,1,0,0,1,0,338,54,0.0 +95,SPOON,SUM,1,0,1,0,0,1581,0,0.0 +95,,SUM,2,0,1,1,0,1951,54,10.771960020065308 +95,, +96,, +96,BOWL,SUM,0,0,0,0,0,39,6,13.384937047958374 +96,CUP,SUM,0,0,0,0,0,27,4,8.436053037643433 +96,SPOON,SUM,1,0,1,0,0,1582,0,0.0 +96,,SUM,1,0,1,0,0,1648,10,21.820990085601807 +96,, +97,, +97,BOWL,SUM,1,0,1,0,0,933,76,0.0 +97,CUP,SUM,1,0,0,1,0,251,55,0.0 +97,SPOON,SUM,0,0,0,0,4,311,0,28.879663944244385 +97,,SUM,2,0,1,1,4,1495,131,28.879663944244385 +97,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_new_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_new_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_new_orig.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_orig_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_orig_orig.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_orig_orig_50retry.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_orig_orig_50retry.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_boxy_orig_orig_50retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_new_var_old.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_new_var_old.csv new file mode 100644 index 0000000000..cefd89e223 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_new_var_old.csv @@ -0,0 +1,174 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,2,108,0,16.749900817871094 +0,CUP,SUM,1,1,0,0,160,19,0,0.0 +0,SPOON,SUM,1,0,1,0,0,388,0,0.0 +0,,SUM,2,1,1,0,162,515,0,16.749900817871094 +0,, +1,, +1,BOWL,SUM,1,1,0,0,152,40,0,0.0 +1,CUP,SUM,1,1,0,0,160,29,0,0.0 +1,SPOON,SUM,1,1,0,0,152,50,0,0.0 +1,,SUM,3,3,0,0,464,119,0,0.0 +1,, +2,, +2,BOWL,SUM,1,1,0,0,160,22,0,0.0 +2,CUP,SUM,1,1,0,0,160,26,0,0.0 +2,SPOON,SUM,1,1,0,0,160,17,0,0.0 +2,,SUM,3,3,0,0,480,65,0,0.0 +2,, +3,, +3,BOWL,SUM,1,0,1,0,0,303,0,0.0 +3,CUP,SUM,1,1,0,0,160,13,0,0.0 +3,SPOON,SUM,1,1,0,0,152,53,0,0.0 +3,,SUM,3,2,1,0,312,369,0,0.0 +3,, +4,, +4,BOWL,SUM,1,0,1,0,0,259,0,0.0 +4,CUP,SUM,1,1,0,0,160,21,0,0.0 +4,SPOON,SUM,0,0,0,0,0,20,0,14.621534824371338 +4,,SUM,2,1,1,0,160,300,0,14.621534824371338 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,227,0,0.0 +5,CUP,SUM,1,1,0,0,0,227,0,0.0 +5,SPOON,SUM,1,1,0,0,136,107,0,0.0 +5,,SUM,3,3,0,0,136,561,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,144,100,0,0.0 +6,CUP,SUM,0,0,0,0,0,43,32,19.62974786758423 +6,SPOON,SUM,1,1,0,0,160,14,0,0.0 +6,,SUM,2,2,0,0,304,157,32,19.62974786758423 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,210,18,22.556487798690796 +7,CUP,SUM,1,1,0,0,0,227,0,0.0 +7,SPOON,SUM,1,0,1,0,0,259,0,0.0 +7,,SUM,2,1,1,0,0,696,18,22.556487798690796 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,355,0,0.0 +8,CUP,SUM,1,1,0,0,160,30,0,0.0 +8,SPOON,SUM,1,1,0,0,128,134,0,0.0 +8,,SUM,3,2,1,0,288,519,0,0.0 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,227,0,0.0 +9,CUP,SUM,1,1,0,0,160,17,0,0.0 +9,SPOON,SUM,1,1,0,0,160,17,0,0.0 +9,,SUM,3,3,0,0,320,261,0,0.0 +9,, +10,, +10,BOWL,SUM,1,1,0,0,0,227,0,0.0 +10,CUP,SUM,1,1,0,0,160,20,0,0.0 +10,SPOON,SUM,1,1,0,0,160,38,0,0.0 +10,,SUM,3,3,0,0,320,285,0,0.0 +10,, +11,, +11,BOWL,SUM,1,1,0,0,152,69,0,0.0 +11,CUP,SUM,1,1,0,0,160,20,0,0.0 +11,SPOON,SUM,1,1,0,0,160,14,0,0.0 +11,,SUM,3,3,0,0,472,103,0,0.0 +11,, +12,, +12,BOWL,SUM,1,0,1,0,0,334,92,0.0 +12,CUP,SUM,1,1,0,0,160,20,0,0.0 +12,SPOON,SUM,1,1,0,0,152,34,0,0.0 +12,,SUM,3,2,1,0,312,388,92,0.0 +12,, +13,, +13,BOWL,SUM,1,1,0,0,152,35,0,0.0 +13,CUP,SUM,0,0,0,0,0,17,21,15.398473024368286 +13,SPOON,SUM,1,0,1,0,6,265,0,0.0 +13,,SUM,2,1,1,0,158,317,21,15.398473024368286 +13,, +14,, +14,BOWL,SUM,1,1,0,0,160,23,0,0.0 +14,CUP,SUM,1,0,1,0,0,262,0,0.0 +14,SPOON,SUM,1,1,0,0,160,18,0,0.0 +14,,SUM,3,2,1,0,320,303,0,0.0 +14,, +15,, +15,BOWL,SUM,0,0,0,0,6,199,4,20.240771055221558 +15,CUP,SUM,1,0,1,0,0,276,0,0.0 +15,SPOON,SUM,1,1,0,0,0,227,0,0.0 +15,,SUM,2,1,1,0,6,702,4,20.240771055221558 +15,, +16,, +16,BOWL,SUM,1,0,1,0,0,283,0,0.0 +16,CUP,SUM,1,1,0,0,160,14,0,0.0 +16,SPOON,SUM,1,1,0,0,160,22,0,0.0 +16,,SUM,3,2,1,0,320,319,0,0.0 +16,, +17,, +17,BOWL,SUM,1,1,0,0,160,30,0,0.0 +17,CUP,SUM,1,1,0,0,160,19,0,0.0 +17,SPOON,SUM,1,1,0,0,160,22,0,0.0 +17,,SUM,3,3,0,0,480,71,0,0.0 +17,, +18,, +18,BOWL,SUM,1,1,0,0,160,21,0,0.0 +18,CUP,SUM,0,0,0,0,48,13,12,36.776538133621216 +18,SPOON,SUM,1,1,0,0,0,227,0,0.0 +18,,SUM,2,2,0,0,208,261,12,36.776538133621216 +18,, +19,, +19,BOWL,SUM,0,0,0,0,0,68,47,27.16305184364319 +19,CUP,SUM,1,1,0,0,152,45,0,0.0 +19,SPOON,SUM,1,1,0,0,152,56,0,0.0 +19,,SUM,2,2,0,0,304,169,47,27.16305184364319 +19,, +20,, +20,BOWL,SUM,1,0,1,0,0,275,0,0.0 +20,CUP,SUM,1,1,0,0,160,15,0,0.0 +20,SPOON,SUM,1,1,0,0,160,13,0,0.0 +20,,SUM,3,2,1,0,320,303,0,0.0 +20,, +21,, +21,BOWL,SUM,0,0,0,0,0,51,6,14.957839012145996 +21,CUP,SUM,1,1,0,0,160,14,0,0.0 +21,SPOON,SUM,1,1,0,0,136,116,0,0.0 +21,,SUM,2,2,0,0,296,181,6,14.957839012145996 +21,, +22,, +22,BOWL,SUM,1,0,1,0,0,90,100,0.0 +22,CUP,SUM,1,1,0,0,160,19,0,0.0 +22,SPOON,SUM,0,0,0,0,18,10,2,24.167524099349976 +22,,SUM,2,1,1,0,178,119,102,24.167524099349976 +22,, +23,, +23,BOWL,SUM,1,1,0,0,0,227,0,0.0 +23,CUP,SUM,1,1,0,0,160,17,0,0.0 +23,SPOON,SUM,0,0,0,0,0,117,0,17.34650206565857 +23,,SUM,2,2,0,0,160,361,0,17.34650206565857 +23,, +24,, +24,BOWL,SUM,1,1,0,0,160,19,0,0.0 +24,CUP,SUM,1,0,1,0,0,270,0,0.0 +24,SPOON,SUM,1,1,0,0,160,18,0,0.0 +24,,SUM,3,2,1,0,320,307,0,0.0 +24,, +25,, +25,BOWL,SUM,1,1,0,0,0,227,0,0.0 +25,CUP,SUM,0,0,0,0,4,15,3,10.569715023040771 +25,SPOON,SUM,1,0,1,0,2,265,0,0.0 +25,,SUM,2,1,1,0,6,507,3,10.569715023040771 +25,, +26,, +26,BOWL,SUM,1,1,0,0,0,227,0,0.0 +26,CUP,SUM,1,1,0,0,160,27,0,0.0 +26,SPOON,SUM,1,1,0,0,160,17,0,0.0 +26,,SUM,3,3,0,0,320,271,0,0.0 +26,, +27,, +27,BOWL,SUM,1,1,0,0,144,77,0,0.0 +27,CUP,SUM,1,1,0,0,160,22,0,0.0 +27,SPOON,SUM,0,0,0,0,0,5,0,14.909405946731567 +27,,SUM,2,2,0,0,304,104,0,14.909405946731567 +27,, +28,, +28,BOWL,SUM,1,0,1,0,2,301,0,0.0 +28,CUP,SUM,1,1,0,0,160,24,0,0.0 diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_10_retry.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_10_retry.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_10_retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_50retry.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_50retry.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_50retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_failed_a_lot.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_failed_a_lot.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_failed_a_lot.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_retry20.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry20.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_retry20.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_retry30_grasping_hack.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_retry30_grasping_hack.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_retry30_grasping_hack.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_subset_var.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_subset_var.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_orig_subset_var.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_50retry.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_50retry.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_50retry.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_not_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_not_best.csv new file mode 100644 index 0000000000..e0db74a2a5 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_not_best.csv @@ -0,0 +1,123 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,8,4,17.200284957885742 +0,CUP,SUM,0,0,0,0,0,207,20,42.54873013496399 +0,SPOON,SUM,0,0,0,0,0,50,1,19.162801027297974 +0,,SUM,0,0,0,0,0,265,25,78.9118161201477 +0,, +1,, +1,BOWL,SUM,0,0,0,0,0,107,6,20.197870016098022 +1,CUP,SUM,0,0,0,0,0,18,7,10.437453031539917 +1,SPOON,SUM,1,1,0,0,0,620,0,0.0 +1,,SUM,1,1,0,0,0,745,13,30.63532304763794 +1,, +2,, +2,BOWL,SUM,0,0,0,0,2,97,4,19.211858987808228 +2,CUP,SUM,0,0,0,0,0,23,5,10.684812068939209 +2,SPOON,SUM,1,1,0,0,24,554,0,0.0 +2,,SUM,1,1,0,0,26,674,9,29.896671056747437 +2,, +3,, +3,BOWL,SUM,0,0,0,0,0,235,90,94.73288083076477 +3,CUP,SUM,1,1,0,0,80,429,0,0.0 +3,SPOON,SUM,0,0,0,0,136,72,0,87.29934811592102 +3,,SUM,1,1,0,0,216,736,90,182.0322289466858 +3,, +4,, +4,BOWL,SUM,0,0,0,0,0,28,6,15.817743062973022 +4,CUP,SUM,1,1,0,0,160,149,0,0.0 +4,SPOON,SUM,0,0,0,0,2,6,4,18.230293035507202 +4,,SUM,1,1,0,0,162,183,10,34.048036098480225 +4,, +5,, +5,BOWL,SUM,1,1,0,0,64,487,0,0.0 +5,CUP,SUM,0,0,0,0,0,119,29,33.03497099876404 +5,SPOON,SUM,1,1,0,0,120,295,0,0.0 +5,,SUM,2,2,0,0,184,901,29,33.03497099876404 +5,, +6,, +6,BOWL,SUM,0,0,0,0,0,25,0,12.416908025741577 +6,CUP,SUM,0,0,0,0,0,37,2,11.20163607597351 +6,SPOON,SUM,0,0,0,0,0,14,0,15.574150085449219 +6,,SUM,0,0,0,0,0,76,2,39.19269418716431 +6,, +7,, +7,BOWL,SUM,0,0,0,0,0,34,0,12.174044847488403 +7,CUP,SUM,0,0,0,0,2,49,1,13.173095941543579 +7,SPOON,SUM,0,0,0,0,0,209,1,29.717777967453003 +7,,SUM,0,0,0,0,2,292,2,55.064918756484985 +7,, +8,, +8,BOWL,SUM,0,0,0,0,0,9,0,12.07231616973877 +8,CUP,SUM,0,0,0,0,6,55,4,15.012346982955933 +8,SPOON,SUM,0,0,0,0,2,56,0,18.35471487045288 +8,,SUM,0,0,0,0,8,120,4,45.43937802314758 +8,, +9,, +9,BOWL,SUM,1,0,1,0,2,1460,20,0.0 +9,CUP,SUM,1,1,0,0,64,454,0,0.0 +9,SPOON,SUM,1,1,0,0,128,314,0,0.0 +9,,SUM,3,2,1,0,194,2228,20,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,0,28,0,12.819870948791504 +10,CUP,SUM,0,0,0,0,0,292,33,67.13260197639465 +10,SPOON,SUM,1,1,0,0,56,493,0,0.0 +10,,SUM,1,1,0,0,56,813,33,79.95247292518616 +10,, +11,, +11,BOWL,SUM,0,0,0,0,0,255,8,33.22091484069824 +11,CUP,SUM,0,0,0,0,0,30,7,11.587892055511475 +11,SPOON,SUM,0,0,0,0,10,6,2,20.17400097846985 +11,,SUM,0,0,0,0,10,291,17,64.98280787467957 +11,, +12,, +12,BOWL,SUM,0,0,0,0,0,42,4,14.967298984527588 +12,CUP,SUM,0,0,0,0,0,315,36,61.90097093582153 +12,SPOON,SUM,1,0,1,0,10,1704,0,0.0 +12,,SUM,1,0,1,0,10,2061,40,76.86826992034912 +12,, +13,, +13,BOWL,SUM,0,0,0,0,0,11,4,13.90885305404663 +13,CUP,SUM,1,0,0,1,0,489,72,0.0 +13,SPOON,SUM,1,1,0,0,16,578,0,0.0 +13,,SUM,2,1,0,1,16,1078,76,13.90885305404663 +13,, +14,, +14,BOWL,SUM,1,1,0,0,136,294,0,0.0 +14,CUP,SUM,1,1,0,0,24,567,0,0.0 +14,SPOON,SUM,0,0,0,0,0,3,4,17.618321895599365 +14,,SUM,2,2,0,0,160,864,4,17.618321895599365 +14,, +15,, +15,BOWL,SUM,0,0,0,0,0,16,2,12.619144916534424 +15,CUP,SUM,0,0,0,0,0,93,20,23.73395085334778 +15,SPOON,SUM,1,1,0,0,152,202,0,0.0 +15,,SUM,1,1,0,0,152,311,22,36.3530957698822 +15,, +16,, +16,BOWL,SUM,0,0,0,0,0,14,0,12.11426591873169 +16,CUP,SUM,0,0,0,0,0,35,8,11.156265020370483 +16,SPOON,SUM,0,0,0,0,0,257,20,43.48077702522278 +16,,SUM,0,0,0,0,0,306,28,66.75130796432495 +16,, +17,, +17,BOWL,SUM,1,1,0,0,0,620,0,0.0 +17,CUP,SUM,0,0,0,0,0,16,2,10.812713146209717 +17,SPOON,SUM,0,0,0,0,0,269,0,32.78035306930542 +17,,SUM,1,1,0,0,0,905,2,43.59306621551514 +17,, +18,, +18,BOWL,SUM,1,1,0,0,24,576,0,0.0 +18,CUP,SUM,0,0,0,0,8,37,3,15.894418954849243 +18,SPOON,SUM,1,0,1,0,0,929,76,0.0 +18,,SUM,2,1,1,0,32,1542,79,15.894418954849243 +18,, +19,, +19,BOWL,SUM,1,1,0,0,56,486,0,0.0 +19,CUP,SUM,0,0,0,0,0,19,0,10.98586106300354 +19,SPOON,SUM,0,0,0,0,0,2,2,15.485052824020386 +19,,SUM,1,1,0,0,56,507,2,26.470913887023926 +19,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_subset_var.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_subset_var.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/kvr_pr2_orig_var_subset_var.csv From 2fbb06b14f6aa7c5d7e471831b27133cbb69899a Mon Sep 17 00:00:00 2001 From: HaSu_VR_pc Date: Wed, 11 Dec 2019 07:25:06 +0100 Subject: [PATCH 34/38] [kvr] pr2 new kitchen sim data --- .../experiments/kvr_pr2_new_best.csv | 144 ++++++++++++++++++ 1 file changed, 144 insertions(+) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv new file mode 100644 index 0000000000..872d531eff --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv @@ -0,0 +1,144 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC + + +0,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 +0,, +1,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 +1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 +1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 +1,, +2,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +2,CUP,SUM,1,1,0,0,0,1519,0,0.0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +2,,SUM,3,3,0,0,0,4557,0,0.0 +2,, +3,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 +3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 +3,, +4,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +4,CUP,SUM,1,1,0,0,0,1519,0,0.0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +4,,SUM,3,3,0,0,0,4557,0,0.0 +4,, +5,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +5,CUP,SUM,1,1,0,0,0,1519,0,0.0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +5,,SUM,3,3,0,0,0,4557,0,0.0 +5,, +6,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +6,CUP,SUM,1,1,0,0,0,1519,0,0.0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 +6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 +6,, +7,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +7,CUP,SUM,1,1,0,0,0,1519,0,0.0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +7,,SUM,3,3,0,0,0,4557,0,0.0 +7,, +8,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 +8,CUP,SUM,1,1,0,0,0,1519,0,0.0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 +8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 +8,, +9,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +9,CUP,SUM,1,1,0,0,0,1519,0,0.0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +9,,SUM,3,3,0,0,0,4557,0,0.0 +9,, +10,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 +10,CUP,SUM,1,1,0,0,0,1519,0,0.0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 +10,, +11,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +11,CUP,SUM,1,1,0,0,0,1519,0,0.0 +11,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +11,,SUM,3,3,0,0,0,4557,0,0.0 +11,, +12,, +12,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +12,CUP,SUM,1,1,0,0,0,1519,0,0.0 +12,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +12,,SUM,3,3,0,0,0,4557,0,0.0 +12,, +13,, +13,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +13,CUP,SUM,0,0,0,0,0,4,1,11.309921979904175 +13,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +13,,SUM,2,2,0,0,0,3042,1,11.309921979904175 +13,, +14,, +14,BOWL,SUM,0,0,0,0,0,56,4,19.901787042617798 +14,CUP,SUM,1,1,0,0,0,1519,0,0.0 +14,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +14,,SUM,2,2,0,0,0,3094,4,19.901787042617798 +14,, +15,, +15,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +15,CUP,SUM,0,0,0,0,0,80,19,35.60285711288452 +15,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +15,,SUM,2,2,0,0,0,3118,19,35.60285711288452 +15,, +16,, +16,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +16,CUP,SUM,1,1,0,0,0,1519,0,0.0 +16,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +16,,SUM,3,3,0,0,0,4557,0,0.0 +16,, +17,, +17,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +17,CUP,SUM,1,1,0,0,0,1519,0,0.0 +17,SPOON,SUM,0,0,0,0,0,14,0,15.217566013336182 +17,,SUM,2,2,0,0,0,3052,0,15.217566013336182 +17,, +18,, +18,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +18,CUP,SUM,1,0,1,0,0,1658,0,0.0 +18,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +18,,SUM,3,2,1,0,0,4696,0,0.0 +18,, +19,, +19,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +19,CUP,SUM,1,0,1,0,0,1638,0,0.0 +19,SPOON,SUM,1,1,0,0,0,1519,0,0.0 +19,,SUM,3,2,1,0,0,4676,0,0.0 +19,, +20,, +20,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +20,CUP,SUM,1,1,0,0,0,1519,0,0.0 +20,SPOON,SUM,1,0,1,0,8,1582,0,0.0 +20,,SUM,3,2,1,0,8,4620,0,0.0 +20,, +21,, +21,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +21,CUP,SUM,1,1,0,0,0,1519,0,0.0 +21,SPOON,SUM,0,0,0,0,6,103,10,27.39035391807556 +21,,SUM,2,2,0,0,6,3141,10,27.39035391807556 +21,, +22,, +22,BOWL,SUM,0,0,0,0,0,62,8,19.67384910583496 +22,CUP,SUM,0,0,0,0,0,12,10,15.023195028305054 +22,SPOON,SUM,1,0,1,0,0,1405,28,0.0 +22,,SUM,1,0,1,0,0,1479,46,34.697044134140015 +22,, +23,, +23,BOWL,SUM,1,1,0,0,0,1519,0,0.0 +23,CUP,SUM,0,0,0,0,0,10,10,12.614169836044312 From 650fe122fa363c430de433c1c2fad77231393729 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Wed, 11 Dec 2019 07:26:12 +0100 Subject: [PATCH 35/38] [kvr] organizing experiments --- .../cram_knowrob_vr/experiments/{ => sim_heur}/heur_boxy_orig.csv | 0 .../cram_knowrob_vr/experiments/{ => sim_heur}/heur_pr2_new.csv | 0 .../cram_knowrob_vr/experiments/{ => sim_heur}/heur_pr2_orig.csv | 0 .../experiments/{ => sim_kvr}/kvr_boxy_3var_best.csv | 0 .../experiments/{ => sim_kvr}/kvr_pr2_new_best.csv | 0 .../experiments/{ => sim_kvr}/kvr_pr2_orig_orig_best.csv | 0 .../experiments/{ => sim_kvr}/kvr_pr2_orig_var_best.csv | 0 .../experiments/{ => sim_kvr}/kvr_pr2_orig_varhalf_best.csv | 0 8 files changed, 0 insertions(+), 0 deletions(-) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_heur}/heur_boxy_orig.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_heur}/heur_pr2_new.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_heur}/heur_pr2_orig.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_kvr}/kvr_boxy_3var_best.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_kvr}/kvr_pr2_new_best.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_kvr}/kvr_pr2_orig_orig_best.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_kvr}/kvr_pr2_orig_var_best.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => sim_kvr}/kvr_pr2_orig_varhalf_best.csv (100%) diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_boxy_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heur_boxy_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_boxy_orig.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_new.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_new.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_new.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_new.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_orig.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/heur_pr2_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_orig.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_boxy_3var_best.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_boxy_3var_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_boxy_3var_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_new_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_orig_best.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_orig_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_orig_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_var_best.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_var_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_var_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_varhalf_best.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/kvr_pr2_orig_varhalf_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_varhalf_best.csv From 75c6663b503de3535513abe64d60ea0681c5cc15 Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Wed, 11 Dec 2019 09:02:13 +0100 Subject: [PATCH 36/38] [kvr] experiments --- .../experiments/failures_VR.csv | 113 -------------- .../{ => old}/failures_VR_another_old.csv | 0 .../{ => old}/failures_VR_left_hand.csv | 0 .../experiments/{ => old}/failures_VR_old.csv | 0 .../BoxyHrSim.csv} | 0 .../BoxyVrSim.csv} | 0 .../Pr2HrReal.csv} | 0 .../Pr2HrSim.csv} | 0 .../Pr2HrSimMod.csv} | 0 .../Pr2VrReal.csv} | 0 .../Pr2VrRealLikeReal.csv} | 0 .../Pr2VrSim.csv} | 0 .../Pr2VrSimHalf.csv} | 0 .../Pr2VrSimLikeReal.csv} | 0 .../experiments/ordered/Pr2VrSimMod.csv | 141 +++++++++++++++++ .../experiments/sim_kvr/kvr_pr2_new_best.csv | 144 ------------------ 16 files changed, 141 insertions(+), 257 deletions(-) delete mode 100644 cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/failures_VR_another_old.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/failures_VR_left_hand.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{ => old}/failures_VR_old.csv (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_heur/heur_boxy_orig.csv => ordered/BoxyHrSim.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_kvr/kvr_boxy_3var_best.csv => ordered/BoxyVrSim.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{real/heur_pr2_real.csv => ordered/Pr2HrReal.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_heur/heur_pr2_orig.csv => ordered/Pr2HrSim.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_heur/heur_pr2_new.csv => ordered/Pr2HrSimMod.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{real/kvr_3var_pr2_real.csv => ordered/Pr2VrReal.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{real/kvr_orig_pr2_real.csv => ordered/Pr2VrRealLikeReal.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_kvr/kvr_pr2_orig_var_best.csv => ordered/Pr2VrSim.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_kvr/kvr_pr2_orig_varhalf_best.csv => ordered/Pr2VrSimHalf.csv} (100%) rename cram_knowrob/cram_knowrob_vr/experiments/{sim_kvr/kvr_pr2_orig_orig_best.csv => ordered/Pr2VrSimLikeReal.csv} (100%) create mode 100644 cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimMod.csv delete mode 100644 cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv b/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv deleted file mode 100644 index b97e7bdfad..0000000000 --- a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR.csv +++ /dev/null @@ -1,113 +0,0 @@ -RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC - - -0,, -0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 -0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 -0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 -0,, -1,, -1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 -1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 -1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 -1,, -2,, -2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -2,CUP,SUM,1,1,0,0,0,1519,0,0.0 -2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -2,,SUM,3,3,0,0,0,4557,0,0.0 -2,, -3,, -3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 -3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 -3,, -4,, -4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -4,CUP,SUM,1,1,0,0,0,1519,0,0.0 -4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -4,,SUM,3,3,0,0,0,4557,0,0.0 -4,, -5,, -5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -5,CUP,SUM,1,1,0,0,0,1519,0,0.0 -5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -5,,SUM,3,3,0,0,0,4557,0,0.0 -5,, -6,, -6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -6,CUP,SUM,1,1,0,0,0,1519,0,0.0 -6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 -6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 -6,, -7,, -7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -7,CUP,SUM,1,1,0,0,0,1519,0,0.0 -7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -7,,SUM,3,3,0,0,0,4557,0,0.0 -7,, -8,, -8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 -8,CUP,SUM,1,1,0,0,0,1519,0,0.0 -8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 -8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 -8,, -9,, -9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -9,CUP,SUM,1,1,0,0,0,1519,0,0.0 -9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -9,,SUM,3,3,0,0,0,4557,0,0.0 -9,, -10,, -10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 -10,CUP,SUM,1,1,0,0,0,1519,0,0.0 -10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 -10,, -11,, -11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -11,CUP,SUM,1,1,0,0,0,1519,0,0.0 -11,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -11,,SUM,3,3,0,0,0,4557,0,0.0 -11,, -12,, -12,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -12,CUP,SUM,1,1,0,0,0,1519,0,0.0 -12,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -12,,SUM,3,3,0,0,0,4557,0,0.0 -12,, -13,, -13,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -13,CUP,SUM,0,0,0,0,0,4,1,11.309921979904175 -13,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -13,,SUM,2,2,0,0,0,3042,1,11.309921979904175 -13,, -14,, -14,BOWL,SUM,0,0,0,0,0,56,4,19.901787042617798 -14,CUP,SUM,1,1,0,0,0,1519,0,0.0 -14,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -14,,SUM,2,2,0,0,0,3094,4,19.901787042617798 -14,, -15,, -15,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -15,CUP,SUM,0,0,0,0,0,80,19,35.60285711288452 -15,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -15,,SUM,2,2,0,0,0,3118,19,35.60285711288452 -15,, -16,, -16,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -16,CUP,SUM,1,1,0,0,0,1519,0,0.0 -16,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -16,,SUM,3,3,0,0,0,4557,0,0.0 -16,, -17,, -17,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -17,CUP,SUM,1,1,0,0,0,1519,0,0.0 -17,SPOON,SUM,0,0,0,0,0,14,0,15.217566013336182 -17,,SUM,2,2,0,0,0,3052,0,15.217566013336182 -17,, -18,, -18,BOWL,SUM,1,1,0,0,0,1519,0,0.0 diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_another_old.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/failures_VR_another_old.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_another_old.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_left_hand.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/failures_VR_left_hand.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_left_hand.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv b/cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_old.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/failures_VR_old.csv rename to cram_knowrob/cram_knowrob_vr/experiments/old/failures_VR_old.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_boxy_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/BoxyHrSim.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_boxy_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/BoxyHrSim.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_boxy_3var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/BoxyVrSim.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_boxy_3var_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/BoxyVrSim.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/real/heur_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrReal.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/real/heur_pr2_real.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrReal.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_orig.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrSim.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_orig.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrSim.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_new.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrSimMod.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_heur/heur_pr2_new.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2HrSimMod.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrReal.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/real/kvr_3var_pr2_real.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrReal.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/real/kvr_orig_pr2_real.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrRealLikeReal.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/real/kvr_orig_pr2_real.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrRealLikeReal.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_var_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSim.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_var_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSim.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_varhalf_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimHalf.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_varhalf_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimHalf.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_orig_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimLikeReal.csv similarity index 100% rename from cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_orig_orig_best.csv rename to cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimLikeReal.csv diff --git a/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimMod.csv b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimMod.csv new file mode 100644 index 0000000000..40e3a5ec68 --- /dev/null +++ b/cram_knowrob/cram_knowrob_vr/experiments/ordered/Pr2VrSimMod.csv @@ -0,0 +1,141 @@ +RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC +,,,,,,,,,, +,,,,,,,,,, +0,,,,,,,,,, +0,BOWL,SUM,0,0,0,0,0,90,5,26.1466691493988 +0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 +0,SPOON,SUM,1,1,0,0,0,1519,0,0 +0,,SUM,1,1,0,0,0,1612,7,36.1248211860657 +0,,,,,,,,,, +1,,,,,,,,,, +1,BOWL,SUM,1,1,0,0,0,1519,0,0 +1,CUP,SUM,0,0,0,0,2,106,12,20.0764589309692 +1,SPOON,SUM,0,0,0,0,0,95,4,26.8373618125916 +1,,SUM,1,1,0,0,2,1720,16,46.9138207435608 +1,,,,,,,,,, +2,,,,,,,,,, +2,BOWL,SUM,1,1,0,0,0,1519,0,0 +2,CUP,SUM,1,1,0,0,0,1519,0,0 +2,SPOON,SUM,1,1,0,0,0,1519,0,0 +2,,SUM,3,3,0,0,0,4557,0,0 +2,,,,,,,,,, +3,,,,,,,,,, +3,BOWL,SUM,1,1,0,0,0,1519,0,0 +3,CUP,SUM,0,0,0,0,0,48,6,15.5141007900238 +3,SPOON,SUM,1,1,0,0,0,1519,0,0 +3,,SUM,2,2,0,0,0,3086,6,15.5141007900238 +3,,,,,,,,,, +4,,,,,,,,,, +4,BOWL,SUM,1,1,0,0,0,1519,0,0 +4,CUP,SUM,1,1,0,0,0,1519,0,0 +4,SPOON,SUM,1,1,0,0,0,1519,0,0 +4,,SUM,3,3,0,0,0,4557,0,0 +4,,,,,,,,,, +5,,,,,,,,,, +5,BOWL,SUM,1,1,0,0,0,1519,0,0 +5,CUP,SUM,1,1,0,0,0,1519,0,0 +5,SPOON,SUM,1,1,0,0,0,1519,0,0 +5,,SUM,3,3,0,0,0,4557,0,0 +5,,,,,,,,,, +6,,,,,,,,,, +6,BOWL,SUM,1,1,0,0,0,1519,0,0 +6,CUP,SUM,1,1,0,0,0,1519,0,0 +6,SPOON,SUM,0,0,0,0,0,431,0,40.2405681610107 +6,,SUM,2,2,0,0,0,3469,0,40.2405681610107 +6,,,,,,,,,, +7,,,,,,,,,, +7,BOWL,SUM,1,1,0,0,0,1519,0,0 +7,CUP,SUM,1,1,0,0,0,1519,0,0 +7,SPOON,SUM,1,1,0,0,0,1519,0,0 +7,,SUM,3,3,0,0,0,4557,0,0 +7,,,,,,,,,, +8,,,,,,,,,, +8,BOWL,SUM,1,0,1,0,0,1589,0,0 +8,CUP,SUM,1,1,0,0,0,1519,0,0 +8,SPOON,SUM,0,0,0,0,0,0,0,15.1040799617767 +8,,SUM,2,1,1,0,0,3108,0,15.1040799617767 +8,,,,,,,,,, +9,,,,,,,,,, +9,BOWL,SUM,1,1,0,0,0,1519,0,0 +9,CUP,SUM,1,1,0,0,0,1519,0,0 +9,SPOON,SUM,1,1,0,0,0,1519,0,0 +9,,SUM,3,3,0,0,0,4557,0,0 +9,,,,,,,,,, +10,,,,,,,,,, +10,BOWL,SUM,0,0,0,0,32,23,0,28.5528178215027 +10,CUP,SUM,1,1,0,0,0,1519,0,0 +10,SPOON,SUM,1,1,0,0,0,1519,0,0 +10,,SUM,2,2,0,0,32,3061,0,28.5528178215027 +10,,,,,,,,,, +11,,,,,,,,,, +11,BOWL,SUM,1,1,0,0,0,1519,0,0 +11,CUP,SUM,1,1,0,0,0,1519,0,0 +11,SPOON,SUM,1,1,0,0,0,1519,0,0 +11,,SUM,3,3,0,0,0,4557,0,0 +11,,,,,,,,,, +12,,,,,,,,,, +12,BOWL,SUM,1,1,0,0,0,1519,0,0 +12,CUP,SUM,1,1,0,0,0,1519,0,0 +12,SPOON,SUM,1,1,0,0,0,1519,0,0 +12,,SUM,3,3,0,0,0,4557,0,0 +12,,,,,,,,,, +13,,,,,,,,,, +13,BOWL,SUM,1,1,0,0,0,1519,0,0 +13,CUP,SUM,0,0,0,0,0,4,1,11.3099219799042 +13,SPOON,SUM,1,1,0,0,0,1519,0,0 +13,,SUM,2,2,0,0,0,3042,1,11.3099219799042 +13,,,,,,,,,, +14,,,,,,,,,, +14,BOWL,SUM,0,0,0,0,0,56,4,19.9017870426178 +14,CUP,SUM,1,1,0,0,0,1519,0,0 +14,SPOON,SUM,1,1,0,0,0,1519,0,0 +14,,SUM,2,2,0,0,0,3094,4,19.9017870426178 +14,,,,,,,,,, +15,,,,,,,,,, +15,BOWL,SUM,1,1,0,0,0,1519,0,0 +15,CUP,SUM,0,0,0,0,0,80,19,35.6028571128845 +15,SPOON,SUM,1,1,0,0,0,1519,0,0 +15,,SUM,2,2,0,0,0,3118,19,35.6028571128845 +15,,,,,,,,,, +16,,,,,,,,,, +16,BOWL,SUM,1,1,0,0,0,1519,0,0 +16,CUP,SUM,1,1,0,0,0,1519,0,0 +16,SPOON,SUM,1,1,0,0,0,1519,0,0 +16,,SUM,3,3,0,0,0,4557,0,0 +16,,,,,,,,,, +17,,,,,,,,,, +17,BOWL,SUM,1,1,0,0,0,1519,0,0 +17,CUP,SUM,1,1,0,0,0,1519,0,0 +17,SPOON,SUM,0,0,0,0,0,14,0,15.2175660133362 +17,,SUM,2,2,0,0,0,3052,0,15.2175660133362 +17,,,,,,,,,, +18,,,,,,,,,, +18,BOWL,SUM,1,1,0,0,0,1519,0,0 +18,CUP,SUM,1,0,1,0,0,1658,0,0 +18,SPOON,SUM,1,1,0,0,0,1519,0,0 +18,,SUM,3,2,1,0,0,4696,0,0 +18,,,,,,,,,, +19,,,,,,,,,, +19,BOWL,SUM,1,1,0,0,0,1519,0,0 +19,CUP,SUM,1,0,1,0,0,1638,0,0 +19,SPOON,SUM,1,1,0,0,0,1519,0,0 +19,,SUM,3,2,1,0,0,4676,0,0 +19,,,,,,,,,, +20,,,,,,,,,, +20,BOWL,SUM,1,1,0,0,0,1519,0,0 +20,CUP,SUM,1,1,0,0,0,1519,0,0 +20,SPOON,SUM,1,0,1,0,8,1582,0,0 +20,,SUM,3,2,1,0,8,4620,0,0 +20,,,,,,,,,, +21,,,,,,,,,, +21,BOWL,SUM,1,1,0,0,0,1519,0,0 +21,CUP,SUM,1,1,0,0,0,1519,0,0 +21,SPOON,SUM,0,0,0,0,6,103,10,27.3903539180756 +21,,SUM,2,2,0,0,6,3141,10,27.3903539180756 +21,,,,,,,,,, +22,,,,,,,,,, +22,BOWL,SUM,0,0,0,0,0,62,8,19.673849105835 +22,CUP,SUM,0,0,0,0,0,12,10,15.0231950283051 +22,SPOON,SUM,1,0,1,0,0,1405,28,0 +22,,SUM,1,0,1,0,0,1479,46,34.69704413414 +22,,,,,,,,,, diff --git a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv b/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv deleted file mode 100644 index 872d531eff..0000000000 --- a/cram_knowrob/cram_knowrob_vr/experiments/sim_kvr/kvr_pr2_new_best.csv +++ /dev/null @@ -1,144 +0,0 @@ -RUN_ID,OBJ_TYPE,FAIL_TYPE,TRANSPORT_FAIL,SEARCH_FAIL,FETCH_FAIL,DELIVER_FAIL,PERCEPT_FAIL,NAV_FAIL,MANIP_FAIL,TIME_SEC - - -0,, -0,BOWL,SUM,0,0,0,0,0,90,5,26.146669149398804 -0,CUP,SUM,0,0,0,0,0,3,2,9.97815203666687 -0,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -0,,SUM,1,1,0,0,0,1612,7,36.124821186065674 -0,, -1,, -1,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -1,CUP,SUM,0,0,0,0,2,106,12,20.07645893096924 -1,SPOON,SUM,0,0,0,0,0,95,4,26.837361812591553 -1,,SUM,1,1,0,0,2,1720,16,46.91382074356079 -1,, -2,, -2,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -2,CUP,SUM,1,1,0,0,0,1519,0,0.0 -2,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -2,,SUM,3,3,0,0,0,4557,0,0.0 -2,, -3,, -3,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -3,CUP,SUM,0,0,0,0,0,48,6,15.514100790023804 -3,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -3,,SUM,2,2,0,0,0,3086,6,15.514100790023804 -3,, -4,, -4,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -4,CUP,SUM,1,1,0,0,0,1519,0,0.0 -4,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -4,,SUM,3,3,0,0,0,4557,0,0.0 -4,, -5,, -5,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -5,CUP,SUM,1,1,0,0,0,1519,0,0.0 -5,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -5,,SUM,3,3,0,0,0,4557,0,0.0 -5,, -6,, -6,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -6,CUP,SUM,1,1,0,0,0,1519,0,0.0 -6,SPOON,SUM,0,0,0,0,0,431,0,40.24056816101074 -6,,SUM,2,2,0,0,0,3469,0,40.24056816101074 -6,, -7,, -7,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -7,CUP,SUM,1,1,0,0,0,1519,0,0.0 -7,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -7,,SUM,3,3,0,0,0,4557,0,0.0 -7,, -8,, -8,BOWL,SUM,1,0,1,0,0,1589,0,0.0 -8,CUP,SUM,1,1,0,0,0,1519,0,0.0 -8,SPOON,SUM,0,0,0,0,0,0,0,15.104079961776733 -8,,SUM,2,1,1,0,0,3108,0,15.104079961776733 -8,, -9,, -9,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -9,CUP,SUM,1,1,0,0,0,1519,0,0.0 -9,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -9,,SUM,3,3,0,0,0,4557,0,0.0 -9,, -10,, -10,BOWL,SUM,0,0,0,0,32,23,0,28.552817821502686 -10,CUP,SUM,1,1,0,0,0,1519,0,0.0 -10,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -10,,SUM,2,2,0,0,32,3061,0,28.552817821502686 -10,, -11,, -11,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -11,CUP,SUM,1,1,0,0,0,1519,0,0.0 -11,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -11,,SUM,3,3,0,0,0,4557,0,0.0 -11,, -12,, -12,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -12,CUP,SUM,1,1,0,0,0,1519,0,0.0 -12,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -12,,SUM,3,3,0,0,0,4557,0,0.0 -12,, -13,, -13,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -13,CUP,SUM,0,0,0,0,0,4,1,11.309921979904175 -13,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -13,,SUM,2,2,0,0,0,3042,1,11.309921979904175 -13,, -14,, -14,BOWL,SUM,0,0,0,0,0,56,4,19.901787042617798 -14,CUP,SUM,1,1,0,0,0,1519,0,0.0 -14,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -14,,SUM,2,2,0,0,0,3094,4,19.901787042617798 -14,, -15,, -15,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -15,CUP,SUM,0,0,0,0,0,80,19,35.60285711288452 -15,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -15,,SUM,2,2,0,0,0,3118,19,35.60285711288452 -15,, -16,, -16,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -16,CUP,SUM,1,1,0,0,0,1519,0,0.0 -16,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -16,,SUM,3,3,0,0,0,4557,0,0.0 -16,, -17,, -17,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -17,CUP,SUM,1,1,0,0,0,1519,0,0.0 -17,SPOON,SUM,0,0,0,0,0,14,0,15.217566013336182 -17,,SUM,2,2,0,0,0,3052,0,15.217566013336182 -17,, -18,, -18,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -18,CUP,SUM,1,0,1,0,0,1658,0,0.0 -18,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -18,,SUM,3,2,1,0,0,4696,0,0.0 -18,, -19,, -19,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -19,CUP,SUM,1,0,1,0,0,1638,0,0.0 -19,SPOON,SUM,1,1,0,0,0,1519,0,0.0 -19,,SUM,3,2,1,0,0,4676,0,0.0 -19,, -20,, -20,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -20,CUP,SUM,1,1,0,0,0,1519,0,0.0 -20,SPOON,SUM,1,0,1,0,8,1582,0,0.0 -20,,SUM,3,2,1,0,8,4620,0,0.0 -20,, -21,, -21,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -21,CUP,SUM,1,1,0,0,0,1519,0,0.0 -21,SPOON,SUM,0,0,0,0,6,103,10,27.39035391807556 -21,,SUM,2,2,0,0,6,3141,10,27.39035391807556 -21,, -22,, -22,BOWL,SUM,0,0,0,0,0,62,8,19.67384910583496 -22,CUP,SUM,0,0,0,0,0,12,10,15.023195028305054 -22,SPOON,SUM,1,0,1,0,0,1405,28,0.0 -22,,SUM,1,0,1,0,0,1479,46,34.697044134140015 -22,, -23,, -23,BOWL,SUM,1,1,0,0,0,1519,0,0.0 -23,CUP,SUM,0,0,0,0,0,10,10,12.614169836044312 From 6ffa6a2b7e2b2cfdb5220a4c78b362e2756361be Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Wed, 11 Dec 2019 14:07:40 +0100 Subject: [PATCH 37/38] [rs] minor updates for real-world perception --- .../cram_robosherlock/src/robosherlock-ros.lisp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp b/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp index ff16f80c41..163d70f7fb 100644 --- a/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp +++ b/cram_external_interfaces/cram_robosherlock/src/robosherlock-ros.lisp @@ -75,6 +75,7 @@ key-value-pair (let ((value (car values))) ;; below are the only keys supported by RS at the moment + ;; TODO: make sure that an already perceived object doesn't get reperceived with its original SHAPE and SIZE... (if (or (eql key :type) (eql key :shape) (eql key :color) @@ -217,7 +218,9 @@ (:EdekaRedBowl :bowl) (:WeideMilchSmall - :milk)))) + :milk) + (:BLUEPLASTICSPOON + :spoon)))) (setf rs-answer (subst-if `(:type ,cram-type) (lambda (x) From 30de492419b19346d58351a104773edf3961db9f Mon Sep 17 00:00:00 2001 From: Gayane Kazhoyan Date: Thu, 12 Dec 2019 14:45:44 +0100 Subject: [PATCH 38/38] [desig+fdplans] cleaner implementation for resetting designator fix --- .../src/fetch-and-deliver-plans.lisp | 3 --- .../src/designator-integration.lisp | 5 ----- .../cram-designators/designator-protocol.lisp | 16 +++++++++------- .../cram-designators/location-designator.lisp | 4 ---- 4 files changed, 9 insertions(+), 19 deletions(-) diff --git a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp index 3256fd04e5..9decb8f162 100644 --- a/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp +++ b/cram_3d_world/cram_fetch_deliver_plans/src/fetch-and-deliver-plans.lisp @@ -203,7 +203,6 @@ retries with different search location or robot base location." (((or common-fail:navigation-goal-in-collision common-fail:looking-high-level-failure common-fail:perception-low-level-failure) (e) - (setf ?robot-location (desig:copy-designator ?robot-location)) (common-fail:retry-with-loc-designator-solutions ?robot-location robot-location-retries @@ -285,7 +284,6 @@ and using the grasp and arm specified in `pick-up-action' (if not NIL)." common-fail:perception-low-level-failure common-fail:object-unreachable common-fail:manipulation-low-level-failure) (e) - (setf ?pick-up-robot-location (desig:copy-designator ?pick-up-robot-location)) (common-fail:retry-with-loc-designator-solutions ?pick-up-robot-location relocation-for-ik-retries @@ -436,7 +434,6 @@ If a failure happens, try a different `?target-location' or `?target-robot-locat (((or common-fail:navigation-goal-in-collision common-fail:object-undeliverable common-fail:manipulation-low-level-failure) (e) - (setf ?target-robot-location (desig:copy-designator ?target-robot-location)) (common-fail:retry-with-loc-designator-solutions ?target-robot-location relocation-for-ik-retries diff --git a/cram_common/cram_location_costmap/src/designator-integration.lisp b/cram_common/cram_location_costmap/src/designator-integration.lisp index a2df0f9b7b..fa2763e5cc 100644 --- a/cram_common/cram_location_costmap/src/designator-integration.lisp +++ b/cram_common/cram_location_costmap/src/designator-integration.lisp @@ -45,11 +45,6 @@ (unless (is-var ?cm) ?cm)))))) -(defmethod desig:reset ((desig location-designator)) - "Deleted cached costmap associated with this designator" - (let ((first-designator (desig:first-desig desig))) - (remhash first-designator *costmap-cache*))) - (defun get-cached-costmap-maxvalue (costmap) (or (gethash costmap *costmap-max-values) (setf (gethash costmap *costmap-max-values) diff --git a/cram_core/cram_designators/src/cram-designators/designator-protocol.lisp b/cram_core/cram_designators/src/cram-designators/designator-protocol.lisp index 8e07b27030..80784ef1a4 100644 --- a/cram_core/cram_designators/src/cram-designators/designator-protocol.lisp +++ b/cram_core/cram_designators/src/cram-designators/designator-protocol.lisp @@ -126,9 +126,15 @@ (:method ((solution-1 array) (solution-2 array)) (equalp solution-1 solution-2))) -(defgeneric reset (desig) - (:documentation "Resets the designator by deleting all associated solutions. -Used for recalculating a designator when its dependent designator got updated.")) +(defun reset (desig) + "Resets the designator by deleting all associated solutions. +Used for recalculating a designator when its dependent designator got updated. +The actual implementation creates a copy of the designator, such that only +the description is preserved. The returned designator is equated to the input one, +in case one would want to get back to the old one through the equated designator chain." + (let ((desig-copy (copy-designator desig))) + (equate desig desig-copy) + (setf desig desig-copy))) (defvar *designator-pprint-description* t "If set to T, DESIGNATOR objects will be pretty printed with their description.") @@ -232,10 +238,6 @@ class (derived from class DESIGNATOR), e.g. OBJECT-DESIGNATOR." "Allow asking current-desig also on NULL objects." NIL) -(defmethod reset ((desig designator)) - "Empties the data slot" - (setf (slot-value desig 'data) nil)) - (defun newest-effective-designator (desig) (labels ((find-effective-desig (desig) (cond ((not desig) nil) diff --git a/cram_core/cram_designators/src/cram-designators/location-designator.lisp b/cram_core/cram_designators/src/cram-designators/location-designator.lisp index c772c990da..5695353388 100644 --- a/cram_core/cram_designators/src/cram-designators/location-designator.lisp +++ b/cram_core/cram_designators/src/cram-designators/location-designator.lisp @@ -209,10 +209,6 @@ either :ACCEPT, :REJECT, :MAYBE-REJECT or :UNKNOWN." (defmethod resolve-designator ((desig location-designator) (role t)) (resolve-location-designator-through-generators-and-validators desig)) -(defmethod reset :after ((desig location-designator)) - "Empties the current-solution slot" - (setf (slot-value desig 'current-solution) nil)) - (defun validate-location-designator-solution (designator solution) (declare (type location-designator designator)) (labels ((validate (validation-functions designator solution