| {"episode": 1, "scene_model": "Beechwood_0_garden", "activity_name": "auto_stack_flat_on_Beechwood_0_garden_trial_43", "surface": "breakfast_table_skczfi_1", "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": {"iocgzv": null}}, "plate.n.04": {"plate": {"pkkgzc": null}}}, "spawn_specs": [{"synset": "chopping_board.n.01", "category": "chopping_board", "count": 1, "role": "target", "model": "iocgzv"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "pkkgzc"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Beechwood_0_garden_trial_43", "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": ["chopping_board_*", "plate_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["chopping_board_*", "plate_*"], "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": [-4.249850749969482, 23.51757049560547, 1.2386224269866943], "lookat": [-4.249698162078857, 23.297571182250977, 0.873073399066925], "orientation": [9.278046491090208e-05, -0.26758232712745667, -0.963534951210022, 0.00033409238676540554], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-4.249358177185059, 23.74531364440918, 1.939622402191162], "lookat": [-4.249698162078857, 23.297571182250977, 0.898622453212738], "orientation": [7.657348032807931e-05, 0.201701357960701, 0.9794470071792603, 0.0003718351945281029], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-4.249358177185059, 22.849313735961914, 1.939622402191162], "lookat": [-4.249698162078857, 23.297571182250977, 0.898622453212738], "orientation": [0.20190583169460297, 7.656864181626588e-05, 0.0003714191843755543, 0.979404866695404], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-5.037367820739746, 22.522056579589844, 2.0015225410461426], "lookat": [-4.249698162078857, 23.297571182250977, 0.8586224317550659], "orientation": [0.34585753083229065, -0.14483676850795746, -0.358090341091156, 0.8550884127616882], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_83"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_82", "reference": "chopping_board_83"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_81", "reference": "chopping_board_83"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_80", "reference": "chopping_board_83"}}]}, "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_83", "support_name": "breakfast_table_skczfi_1", "marker_name": "goal_region__chopping_board_83", "center_world": [-4.920766266236647, 23.297323685527935, 0.7739898278198705], "radius_m": 0.10800355183924282, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3600118394641427, "anchor_local_xy": [0.49000976646055383, 0.6714080890515889], "pack_bbox_robot_local_xy": [[0.3100038466449917, -0.13071989977698362], [0.6700156862761161, 0.1313903298553748]], "support_bounds_robot_local_xy": [[0.2899990784051484, -0.20999997450853092], [0.689999078405147, 0.2100000254914691]], "clamped_to_support_bounds": false}} | |