File size: 4,590 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_19", "surface": "breakfast_table_skczfi_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": {"ktxcvz": null}}, "plate.n.04": {"plate": {"lkomhp": null}}}, "spawn_specs": [{"synset": "chopping_board.n.01", "category": "chopping_board", "count": 1, "role": "target", "model": "ktxcvz"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "lkomhp"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_19", "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": [-2.9960527420043945, 6.078371524810791, 1.1880935430526733], "lookat": [-3.216052532196045, 6.07809591293335, 0.8080935478210449], "orientation": [0.1833065152168274, 0.18353629112243652, 0.6833306550979614, 0.682475209236145], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-3.1026904582977295, 6.077935695648193, 1.9087536334991455], "lookat": [-3.216052532196045, 6.07809591293335, 0.848093569278717], "orientation": [0.037653353065252304, 0.03760017827153206, 0.7056058049201965, 0.7066037058830261], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-3.627687454223633, 6.077513694763184, 1.8890935182571411], "lookat": [-3.216052532196045, 6.07809591293335, 0.848093569278717], "orientation": [0.13244053721427917, -0.13225334882736206, -0.6941195130348206, 0.6951019167900085], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.959434747695923, 6.867568016052246, 1.9541772603988647], "lookat": [-3.216052532196045, 6.07809591293335, 0.8080935478210449], "orientation": [0.13639216125011444, -0.34380555152893066, -0.8636071085929871, 0.34260424971580505], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_60"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_59", "reference": "chopping_board_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_58", "reference": "chopping_board_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_57", "reference": "chopping_board_60"}}]}, "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_60", "support_name": "breakfast_table_skczfi_0", "marker_name": "goal_region__chopping_board_60", "center_world": [-3.2161295386769777, 6.689677343969154, 0.7172249914286694], "radius_m": 0.0918211071014392, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.30607035700479734, "anchor_local_xy": [0.46469259534096663, 0.6121636492059706], "pack_bbox_robot_local_xy": [[0.3668384503581481, -0.1530122433060228], [0.5625467403237852, 0.15305811369877453]], "support_bounds_robot_local_xy": [[0.2899999378329232, -0.21000021226745247], [0.6393874704643396, 0.20999978773254746]], "clamped_to_support_bounds": false}}
|