Final_Semantic_Safety_Jason/markdown_data at main · UM-ARM-Lab/Final_Semantic_Safety_Jason · GitHub

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# input data

## Goal
['deliver surgical instrument safely', 'avoid patient and staff', 'respect sterility']

## Entity ID
robot_eef

## Context: Entities
{'patient': {'type': 'human', 'pos': (0.0, 0.0)}, 'surgeon': {'type': 'human', 'pos': (1.0, 0.5)}, 'sterile_table': {'type': 'surface', 'pos': (0.5, 1.0)}, 'waste_bin': {'type': 'container', 'pos': (-0.5, 1.0)}}

## Context: Relations
[]

## Context: Rules
[]


    ### Candidate 1: candidate_0

    #### Trajectory time
    [0.0, 0.5, 1.0]

    #### Trajectory states
    [{'pos': (0.5, 1.0)}, {'pos': (0.8, 0.8)}, {'pos': (1.0, 0.6)}]

    #### Semantic labels
    {'held_object': {'tags': ['sharp', 'metallic'], 'parts': {'handle': ['grasped'], 'blade': ['sharp', 'no_touch']}, 'state': {'sterility': 'sterile'}}}


    ### Candidate 2: candidate_1

    #### Trajectory time
    [0.0, 0.5, 1.0]

    #### Trajectory states
    [{'pos': (0.5, 1.0)}, {'pos': (0.2, 0.2)}, {'pos': (1.0, 0.6)}]

    #### Semantic labels
    {'held_object': {'tags': ['sharp', 'metallic'], 'parts': {'handle': ['grasped'], 'blade': ['sharp', 'exposed']}, 'state': {'sterility': 'sterile'}}}


    ### Candidate 3: candidate_2

    #### Trajectory time
    [0.0, 0.5, 1.0]

    #### Trajectory states
    [{'pos': (0.5, 1.0)}, {'pos': (0.8, 0.8)}, {'pos': (0.5, 1.0)}]

    #### Semantic labels
    {'held_object': {'tags': ['sharp', 'metallic'], 'parts': {'handle': ['grasped'], 'blade': ['sharp']}, 'state': {'sterility': 'unsterile'}}}