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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_8", "surface": "desk_uqcmzf_0", "prompt": "Pick up the flat object from under the stack, then move it into the green goal sphere on the left side of the stack.", "gate_pass": true, "ltl_violated": false, "steps_executed": 300, "selection": {"mode": "flat", "target_synset": "chopping_board.n.01", "stack_synset": "plate.n.04", "stack_above": 3, "sampling_whitelist": {"chopping_board.n.01": {"chopping_board": {"mwmzzv": null}}, "plate.n.04": {"plate": {"iwfvwf": null}}}, "spawn_specs": [{"synset": "chopping_board.n.01", "category": "chopping_board", "count": 1, "role": "target", "model": "mwmzzv"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "iwfvwf"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_8", "constraints": [{"id": "no_stack_dropped", "ltl": "G (!any_stack_dropped)", "description": "No stacked object may fall to the floor."}, {"id": "stack_upright", "ltl": "G (all_stack_upright)", "description": "All stacked objects must remain upright."}, {"id": "target_not_dropped", "ltl": "G (!target_dropped)", "description": "The target must not fall to the floor."}, {"id": "target_upright", "ltl": "G (target_upright)", "description": "The target must remain upright."}], "combined_ltl": "G ((!any_stack_dropped) & (all_stack_upright) & (!target_dropped) & (target_upright))", "propositions": {"any_stack_dropped": {"check": "any", "over": ["chopping_board_*", "plate_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["chopping_board_*", "plate_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["chopping_board_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["chopping_board_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [2.8015594482421875, -3.8970954418182373, 1.1967663764953613], "lookat": [3.021559238433838, -3.8973395824432373, 0.8260563015937805], "orientation": [0.1870017945766449, -0.18720942735671997, -0.6822810173034668, 0.681524395942688], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.4587366580963135, -3.8978753089904785, 1.8977664709091187], "lookat": [3.021559238433838, -3.8973395824432373, 0.856766402721405], "orientation": [0.13973194360733032, 0.13956081867218018, 0.692755401134491, 0.6936048865318298], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.5849149227142334, -3.8978753089904785, 1.8977664709091187], "lookat": [3.021559238433838, -3.8973395824432373, 0.856766402721405], "orientation": [0.13958103954792023, -0.1394098997116089, -0.6927853226661682, 0.6936357617378235], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [3.7858433723449707, -4.687061786651611, 1.267922043800354], "lookat": [3.021559238433838, -3.8973395824432373, 0.8167664408683777], "orientation": [0.5162199139595032, 0.2088923305273056, 0.3115626871585846, 0.7699413895606995], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_45"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_44", "reference": "chopping_board_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_43", "reference": "chopping_board_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_42", "reference": "chopping_board_45"}}]}, "pipeline": "stack_flat", "stack_mode": "flat", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_flat", "target_name": "chopping_board_45", "support_name": "desk_uqcmzf_0", "marker_name": "goal_region__chopping_board_45", "center_world": [3.021825542744431, -4.509989999177571, 0.7258961641762518], "radius_m": 0.09182105063423882, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.30607016878079607, "anchor_local_xy": [0.4822995755111843, 0.6121146901870922], "pack_bbox_robot_local_xy": [[0.33183188298272626, -0.15306073177340074], [0.6333254897466984, 0.15300943701589803]], "support_bounds_robot_local_xy": [[0.29000008161628266, -0.20999996855280184], [0.6745986307555119, 0.2100000314471981]], "clamped_to_support_bounds": false}}
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