| {"episode": 1, "scene_model": "Beechwood_0_int", "activity_name": "auto_stack_flat_on_Beechwood_0_int_trial_78", "surface": "breakfast_table_uhrsex_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": {"mwmzzv": null}}, "plate.n.04": {"plate": {"lixwwc": null}}}, "spawn_specs": [{"synset": "chopping_board.n.01", "category": "chopping_board", "count": 1, "role": "target", "model": "mwmzzv"}, {"synset": "plate.n.04", "category": "plate", "count": 3, "role": "stack", "model": "lixwwc"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Beechwood_0_int_trial_78", "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": [1.444130301475525, -9.061702728271484, 1.2439854145050049], "lookat": [1.4439805746078491, -9.281702995300293, 0.8778131604194641], "orientation": [9.093492553802207e-05, 0.26722079515457153, 0.963635265827179, 0.00032792394631542265], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [1.4436472654342651, -9.729362487792969, 1.9449853897094727], "lookat": [1.4439805746078491, -9.281702995300293, 0.9039854407310486], "orientation": [0.20166842639446259, -7.507707778131589e-05, -0.000364630832336843, 0.9794538021087646], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [1.4436472654342651, -8.833362579345703, 1.9449853897094727], "lookat": [1.4439805746078491, -9.281702995300293, 0.9039854407310486], "orientation": [7.507475675083697e-05, -0.2019386738538742, -0.9793981313705444, 0.0003641109215095639], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.655194878578186, -10.05537223815918, 2.00696063041687], "lookat": [1.4439805746078491, -9.281702995300293, 0.8639854192733765], "orientation": [0.3456096649169922, -0.1451188027858734, -0.35892075300216675, 0.854792594909668], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_99"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_98", "reference": "chopping_board_99"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_97", "reference": "chopping_board_99"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_96", "reference": "chopping_board_99"}}]}, "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_99", "support_name": "breakfast_table_uhrsex_0", "marker_name": "goal_region__chopping_board_99", "center_world": [0.8866793229009713, -9.2813323165786, 0.7731574979629343], "radius_m": 0.09182209288887648, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3060736429629216, "anchor_local_xy": [0.4900309417832158, 0.556967942533294], "pack_bbox_robot_local_xy": [[0.3369941202519232, -0.09785382982017678], [0.6430677633145083, 0.09785747808891151]], "support_bounds_robot_local_xy": [[0.29000034366452293, -0.21000002934427503], [0.6900003436645233, 0.2099999706557249]], "clamped_to_support_bounds": false}} | |