Corrige bounds de validação de pose para corresponder ao workspace real do Cliport (X: [0.25, 0.75], Y: [-0.5, 0.5], Z: [0.0, 0.3])

cliport/cfg/config.yaml

@@ -15,8 +15,9 @@ auto_fix_attempts: 2 # number of automatic LLM repair attempts after a failure
 pose_validation:
   enabled: true
   max_retries: 1
-  xy_bounds: [0.05, 0.95]
-  z_bounds: [0.0, 0.5]
+  x_bounds: [0.25, 0.75]   # X bounds matching Cliport workspace
+  y_bounds: [-0.5, 0.5]    # Y bounds matching Cliport workspace (Y can be negative)
+  z_bounds: [0.0, 0.3]     # Z bounds matching Cliport workspace
 
 # Advanced options
 task_description_candidate_num: -1 # the number of sample task descriptions. -1 means all 

gensim/agent.py

@@ -231,7 +231,7 @@ class Agent:
         if previous_error and attempt_number > 0:
             error_feedback = f"\n\nIMPORTANT: The previous code generation attempt failed validation with the following error:\n{previous_error}\n\nPlease fix these issues in your code:\n"
             if "fora dos limites" in previous_error or "outside bounds" in previous_error.lower():
-                error_feedback += "- Ensure ALL object poses and target poses are within workspace bounds: X: [0.05, 0.95], Y: [0.05, 0.95], Z: [0.0, 0.5]\n"
+                error_feedback += "- Ensure ALL object poses and target poses are within workspace bounds: X: [0.25, 0.75], Y: [-0.5, 0.5], Z: [0.0, 0.3]\n"
             if "base_pose" in previous_error.lower() or "base" in previous_error.lower():
                 error_feedback += "- If creating multiple structures, each structure MUST have its own separate base pose at different locations\n"
             if "add_goal" in previous_error.lower():

gensim/sim_runner.py

@@ -60,9 +60,18 @@ class SimulationRunner:
         pose_validation_cfg = cfg.get('pose_validation', {})
         self.pose_validation_enabled = pose_validation_cfg.get('enabled', False)
         self.pose_validation_max_retries = pose_validation_cfg.get('max_retries', 0)
-        xy_bounds = pose_validation_cfg.get('xy_bounds', [0.0, 1.0])
-        z_bounds = pose_validation_cfg.get('z_bounds', [0.0, 1.0])
-        self.pose_xy_bounds = (xy_bounds[0], xy_bounds[1])
+        # Support separate X and Y bounds, fallback to xy_bounds for compatibility
+        if 'x_bounds' in pose_validation_cfg and 'y_bounds' in pose_validation_cfg:
+            x_bounds = pose_validation_cfg.get('x_bounds', [0.25, 0.75])
+            y_bounds = pose_validation_cfg.get('y_bounds', [-0.5, 0.5])
+            self.pose_x_bounds = (x_bounds[0], x_bounds[1])
+            self.pose_y_bounds = (y_bounds[0], y_bounds[1])
+        else:
+            # Legacy: use xy_bounds for both X and Y
+            xy_bounds = pose_validation_cfg.get('xy_bounds', [0.25, 0.75])
+            self.pose_x_bounds = (xy_bounds[0], xy_bounds[1])
+            self.pose_y_bounds = (xy_bounds[0], xy_bounds[1])
+        z_bounds = pose_validation_cfg.get('z_bounds', [0.0, 0.3])
         self.pose_z_bounds = (z_bounds[0], z_bounds[1])
 
     def print_current_stats(self):
@@ -143,12 +152,12 @@ class SimulationRunner:
                 x, y, z = map(float, pose[:3])
             except ValueError:
                 continue
-            if not (self.pose_xy_bounds[0] <= x <= self.pose_xy_bounds[1]):
-                invalid_entries.append(f"x={x:.3f} fora dos limites {self.pose_xy_bounds}")
-            if not (self.pose_xy_bounds[0] <= y <= self.pose_xy_bounds[1]):
-                invalid_entries.append(f"y={y:.3f} fora dos limites {self.pose_xy_bounds}")
+            if not (self.pose_x_bounds[0] <= x <= self.pose_x_bounds[1]):
+                invalid_entries.append(f"x={x:.3f} fora dos limites X {self.pose_x_bounds}")
+            if not (self.pose_y_bounds[0] <= y <= self.pose_y_bounds[1]):
+                invalid_entries.append(f"y={y:.3f} fora dos limites Y {self.pose_y_bounds}")
             if not (self.pose_z_bounds[0] <= z <= self.pose_z_bounds[1]):
-                invalid_entries.append(f"z={z:.3f} fora dos limites {self.pose_z_bounds}")
+                invalid_entries.append(f"z={z:.3f} fora dos limites Z {self.pose_z_bounds}")
 
             if len(invalid_entries) >= 3:
                 break