| {"episode": 1, "scene_model": "restaurant_asian", "activity_name": "auto_stack_flat_on_restaurant_asian_trial_58", "surface": "breakfast_table_jcqdlx_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": {"iocgzv": null}}, "plate.n.04": {"plate": {"ivuveo": 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": "ivuveo"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_restaurant_asian_trial_58", "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": [-0.4129650294780731, 3.684314727783203, 1.243906021118164], "lookat": [-0.6329650282859802, 3.684338331222534, 0.8855593204498291], "orientation": [0.19222696125507355, 0.19220635294914246, 0.680443286895752, 0.680516242980957], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-1.0808299779891968, 3.6843907833099365, 1.9449061155319214], "lookat": [-0.6329650282859802, 3.684338331222534, 0.9039060473442078], "orientation": [0.1426503211259842, -0.1426670402288437, -0.6926071643829346, 0.6925259828567505], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.18483000993728638, 3.6843907833099365, 1.9449061155319214], "lookat": [-0.6329650282859802, 3.684338331222534, 0.9039060473442078], "orientation": [0.14272619783878326, 0.14274290204048157, 0.6925914883613586, 0.6925104856491089], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-1.4073479175567627, 4.472662448883057, 2.0068557262420654], "lookat": [-0.6329650282859802, 3.684338331222534, 0.8639060854911804], "orientation": [0.14191469550132751, -0.34698188304901123, -0.8580774068832397, 0.3509514629840851], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_154"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_153", "reference": "chopping_board_154"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_152", "reference": "chopping_board_154"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_151", "reference": "chopping_board_154"}}]}, "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_154", "support_name": "breakfast_table_jcqdlx_0", "marker_name": "goal_region__chopping_board_154", "center_world": [-0.633658250945762, 4.4046063305016245, 0.779726962117276], "radius_m": 0.10802592711590857, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.36008642371969524, "anchor_local_xy": [0.4891717823565451, 0.7202155471916878], "pack_bbox_robot_local_xy": [[0.35484725199575207, -0.1800005121075503], [0.6240033987048365, 0.18008591161214493]], "support_bounds_robot_local_xy": [[0.29000002411089865, -0.20999998839568557], [0.6900000241108987, 0.21000001160431436]], "clamped_to_support_bounds": false}} | |