| {"episode": 1, "scene_model": "hall_conference_large", "activity_name": "auto_stack_flat_on_hall_conference_large_trial_22", "surface": "breakfast_table_pdpkuw_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": {"kkmkbd": 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": "kkmkbd"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_hall_conference_large_trial_22", "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": ["clipboard_*", "plate_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["clipboard_*", "plate_*"], "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": [-21.274871826171875, 9.87302017211914, 1.3465054035186768], "lookat": [-21.494871139526367, 9.873058319091797, 0.9665054678916931], "orientation": [0.18343690037727356, 0.1834051012992859, 0.6828439831733704, 0.6829623579978943], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-21.942319869995117, 9.873144149780273, 2.0475053787231445], "lookat": [-21.494871139526367, 9.873058319091797, 1.0065054893493652], "orientation": [0.1425282508134842, -0.1425555795431137, -0.6926569938659668, 0.692524254322052], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-21.04631996154785, 9.873144149780273, 2.0475053787231445], "lookat": [-21.494871139526367, 9.873058319091797, 1.0065054893493652], "orientation": [0.14283765852451324, 0.14286498725414276, 0.6925930976867676, 0.6924605965614319], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-22.268672943115234, 10.661471366882324, 2.1095070838928223], "lookat": [-21.494871139526367, 9.873058319091797, 0.9665054678916931], "orientation": [0.14180852472782135, -0.34693604707717896, -0.8581840991973877, 0.35077881813049316], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "clipboard_1279"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_1278", "reference": "clipboard_1279"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_1277", "reference": "clipboard_1279"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_1276", "reference": "clipboard_1279"}}]}, "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_1279", "support_name": "breakfast_table_pdpkuw_0", "marker_name": "goal_region__clipboard_1279", "center_world": [-21.489862599461798, 10.516598488400525, 0.8716748612109474], "radius_m": 0.09698479781623988, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.32328265938746625, "anchor_local_xy": [0.49445899477648325, 0.643454338620252], "pack_bbox_robot_local_xy": [[0.3306560422903466, -0.15792676033728625], [0.6561003244702164, 0.15853034953905265]], "support_bounds_robot_local_xy": [[0.2900007828454001, -0.2099998419014728], [0.6900007828453987, 0.2100001580985289]], "clamped_to_support_bounds": false}} | |