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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "Beechwood_0_garden", "activity_name": "auto_stack_flat_on_Beechwood_0_garden_trial_45", "surface": "breakfast_table_skczfi_1", "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": "clipboard.n.01", "stack_synset": "plate.n.04", "stack_above": 3, "sampling_whitelist": {"clipboard.n.01": {"clipboard": {"gmxyfo": null}}, "plate.n.04": {"plate": {"nrjump": null}}}, "spawn_specs": [{"synset": "clipboard.n.01", "category": "clipboard", "count": 1, "role": "target", "model": "gmxyfo"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "nrjump"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Beechwood_0_garden_trial_45", "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": ["plate_*", "clipboard_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["plate_*", "clipboard_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["clipboard_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["clipboard_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-4.250385761260986, 23.517013549804688, 1.2386224269866943], "lookat": [-4.250067234039307, 23.297014236450195, 0.8586224317550659], "orientation": [0.00018778094090521336, -0.25939661264419556, -0.9657706022262573, 0.0006991352420300245], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-4.249358177185059, 23.74531364440918, 1.939622402191162], "lookat": [-4.250067234039307, 23.297014236450195, 0.898622453212738], "orientation": [0.00015967850049491972, 0.20192253589630127, 0.979401171207428, 0.0007745015318505466], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-4.249358177185059, 22.849313735961914, 1.939622402191162], "lookat": [-4.250067234039307, 23.297014236450195, 0.898622453212738], "orientation": [0.20168478786945343, 0.0001597115769982338, 0.0007756139384582639, 0.9794501662254333], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-5.037200927734375, 22.521615982055664, 2.0015926361083984], "lookat": [-4.250067234039307, 23.297014236450195, 0.8586224317550659], "orientation": [0.3457740247249603, -0.14474788308143616, -0.35799431800842285, 0.8551775217056274], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "clipboard_83"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_82", "reference": "clipboard_83"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_81", "reference": "clipboard_83"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_80", "reference": "clipboard_83"}}]}, "pipeline": "stack_flat", "stack_mode": "flat", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_flat", "target_name": "clipboard_83", "support_name": "breakfast_table_skczfi_1", "marker_name": "goal_region__clipboard_83", "center_world": [-4.891467304399566, 23.297360425229094, 0.7637909072355751], "radius_m": 0.09698503638200622, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3232834546066874, "anchor_local_xy": [0.49004650616171097, 0.6421091272145072], "pack_bbox_robot_local_xy": [[0.37373237487392097, -0.16609950935837162], [0.6063606374494974, 0.1571839453044761]], "support_bounds_robot_local_xy": [[0.2899990784051484, -0.20999997450853092], [0.689999078405147, 0.2100000254914691]], "clamped_to_support_bounds": false}}
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