File size: 4,391 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "Ihlen_0_int", "activity_name": "auto_stack_same_on_Ihlen_0_int_trial_121", "surface": "coffee_table_fqluyq_0", "prompt": "Pick up the bottom plate 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": "plate.n.04", "stack_synset": "plate.n.04", "stack_above": 3, "sampling_whitelist": {"plate.n.04": {"plate": {"itoeew": null}}}, "spawn_specs": [{"synset": "plate.n.04", "category": "plate", "count": 1, "role": "target", "model": "itoeew"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "itoeew"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Ihlen_0_int_trial_121", "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_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["plate_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["plate_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["plate_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [0.06405515223741531, 3.6895852088928223, 0.8817238807678223], "lookat": [0.06419004499912262, 3.4695851802825928, 0.5017238855361938], "orientation": [7.952146552270278e-05, -0.25939714908599854, -0.9657706618309021, 0.00029606916359625757], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.06446965038776398, 3.070674180984497, 1.58272385597229], "lookat": [0.06419004499912262, 3.4695851802825928, 0.541723906993866], "orientation": [0.18195092678070068, 6.376668170560151e-05, 0.00034461080213077366, 0.9833075404167175], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [0.06446965038776398, 3.8678181171417236, 1.58272385597229], "lookat": [0.06419004499912262, 3.4695851802825928, 0.541723906993866], "orientation": [6.377176759997383e-05, 0.1816716194152832, 0.9833592176437378, 0.0003451863012742251], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-0.7265107035636902, 2.737949848175049, 1.6488901376724243], "lookat": [0.06419004499912262, 3.4695851802825928, 0.5017238855361938], "orientation": [0.3373080790042877, -0.14744310081005096, -0.3723979592323303, 0.8519410490989685], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "plate_46"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_45", "reference": "plate_46"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_44", "reference": "plate_46"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_43", "reference": "plate_46"}}]}, "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "plate_46", "support_name": "coffee_table_fqluyq_0", "marker_name": "goal_region__plate_46", "center_world": [-0.9662905970522127, 3.469217507452385, 0.41707785068111564], "radius_m": 0.15435320906628522, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.5145106968876174, "anchor_local_xy": [0.4556464835113448, 1.0307602474399766], "pack_bbox_robot_local_xy": [[0.19780188929721695, -0.2584219621159398], [0.714585919357909, 0.2589942021085505]], "support_bounds_robot_local_xy": [[0.290000060656199, -0.21000000062030935], [0.6213500055612415, 0.20999999937969066]], "clamped_to_support_bounds": false}}
|