| {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_16", "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": {"nrjump": 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": "nrjump"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_16", "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_*", "chopping_board_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["plate_*", "chopping_board_*"], "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": [-2.9963419437408447, 6.077593803405762, 1.1880935430526733], "lookat": [-3.216341972351074, 6.077568054199219, 0.8080935478210449], "orientation": [0.18341073393821716, 0.1834321916103363, 0.6829429864883423, 0.6828630566596985], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-3.102900266647339, 6.077552795410156, 1.9087531566619873], "lookat": [-3.216341972351074, 6.077568054199219, 0.848093569278717], "orientation": [0.037655435502529144, 0.037650369107723236, 0.7060560584068298, 0.7061510682106018], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-3.627687454223633, 6.077513694763184, 1.8890935182571411], "lookat": [-3.216341972351074, 6.077568054199219, 0.848093569278717], "orientation": [0.13227206468582153, -0.13225458562374115, -0.6945809125900269, 0.694672703742981], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.9584550857543945, 6.867908954620361, 1.9542131423950195], "lookat": [-3.216341972351074, 6.077568054199219, 0.8080935478210449], "orientation": [0.13612985610961914, -0.34384727478027344, -0.8638684153556824, 0.3420073091983795], "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": [-3.2161281073359826, 6.689677535832451, 0.7172254698593236], "radius_m": 0.09182106437005703, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3060702145668568, "anchor_local_xy": [0.4646940266819617, 0.6121638410692674], "pack_bbox_robot_local_xy": [[0.3668399620902574, -0.15301169534787462], [0.562548091273666, 0.15305851921898217]], "support_bounds_robot_local_xy": [[0.2899999378329232, -0.21000021226745247], [0.6393874704643396, 0.20999978773254746]], "clamped_to_support_bounds": false}} | |