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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_same_on_house_double_floor_upper_trial_0", "surface": "desk_uqcmzf_0", "prompt": "Pick up the bottom bowl from 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": "same", "target_synset": "bowl.n.01", "stack_synset": "bowl.n.01", "stack_above": 3, "sampling_whitelist": {"bowl.n.01": {"bowl": {"tvtive": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "tvtive"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "tvtive"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_double_floor_upper_trial_0", "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": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [2.8717610836029053, -3.90027117729187, 1.241558313369751], "lookat": [3.091759443283081, -3.899437665939331, 1.0015583038330078], "orientation": [0.25682753324508667, -0.25585633516311646, -0.6577562093734741, 0.6602529883384705], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.1147541999816895, -4.689809322357178, 1.2828987836837769], "lookat": [3.091759443283081, -3.899437665939331, 1.0428987741470337], "orientation": [0.5955703258514404, 0.00866181030869484, 0.011681104078888893, 0.8031715154647827], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [3.0078954696655273, -2.8797481060028076, 1.837766408920288], "lookat": [3.091759443283081, -3.899437665939331, 1.0428987741470337], "orientation": [0.018031658604741096, -0.4392282962799072, -0.8974385261535645, 0.03684258460998535], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [3.680325746536255, -4.415908336639404, 1.5058051347732544], "lookat": [3.091759443283081, -3.899437665939331, 1.02289879322052], "orientation": [0.4439706802368164, 0.20108038187026978, 0.36025160551071167, 0.7954090237617493], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_45"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_44", "reference": "bowl_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_43", "reference": "bowl_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_42", "reference": "bowl_45"}}]}, "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "bowl_45", "support_name": "desk_uqcmzf_0", "marker_name": "goal_region__bowl_45", "center_world": [3.0939206574564473, -4.288123553888067, 0.7754477179095459], "radius_m": 0.056356258830279504, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.18785419610093168, "anchor_local_xy": [0.41020446079916795, 0.3902482448975885], "pack_bbox_robot_local_xy": [[0.31310818597796297, -0.09641835892357123], [0.5245833183592126, 0.10846695074619099]], "support_bounds_robot_local_xy": [[0.29000008161628266, -0.20999996855280184], [0.5300000816162829, 0.2100000314471981]], "clamped_to_support_bounds": false}}
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