| {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_18", "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": "clipboard.n.01", "stack_synset": "plate.n.04", "stack_above": 3, "sampling_whitelist": {"clipboard.n.01": {"clipboard": {"gmxyfo": null}}, "plate.n.04": {"plate": {"ksgizx": 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": "ksgizx"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_18", "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": [-2.9967825412750244, 6.078090190887451, 1.1880935430526733], "lookat": [-3.216782569885254, 6.07790470123291, 0.8259168267250061], "orientation": [0.19052693247795105, 0.1906876415014267, 0.6812192797660828, 0.680645227432251], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-3.103219747543335, 6.077796936035156, 1.90875244140625], "lookat": [-3.216782569885254, 6.07790470123291, 0.848093569278717], "orientation": [0.03771073371171951, 0.03767496347427368, 0.7057663202285767, 0.7064363956451416], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-3.627687454223633, 6.077513694763184, 1.8890935182571411], "lookat": [-3.216782569885254, 6.07790470123291, 0.848093569278717], "orientation": [0.13219904899597168, -0.132073312997818, -0.6943203806877136, 0.6949813961982727], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.958904266357422, 6.867744445800781, 1.9542677402496338], "lookat": [-3.216782569885254, 6.07790470123291, 0.8080935478210449], "orientation": [0.13615292310714722, -0.34374356269836426, -0.8638458251953125, 0.34215953946113586], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "clipboard_60"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_59", "reference": "clipboard_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_58", "reference": "clipboard_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_57", "reference": "clipboard_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": "clipboard_60", "support_name": "breakfast_table_skczfi_0", "marker_name": "goal_region__clipboard_60", "center_world": [-3.2116749834713363, 6.6968664637785045, 0.7132620573114348], "radius_m": 0.0969936058488269, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3233120194960897, "anchor_local_xy": [0.46914715054660805, 0.6193527690153209], "pack_bbox_robot_local_xy": [[0.3074911407985632, -0.13208925953322215], [0.6308031602946529, 0.13438473977118637]], "support_bounds_robot_local_xy": [[0.2899999378329232, -0.21000021226745247], [0.6393874704643396, 0.20999978773254746]], "clamped_to_support_bounds": false}} | |