| {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_82", "surface": "breakfast_table_idnnmz_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": {"zpddxu": 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": "zpddxu"}]}, "ltl_safety": {"activity_name": "auto_stack_flat_on_Pomaria_0_garden_trial_82", "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_*", "chopping_board_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["plate_*", "chopping_board_*"], "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": [0.47686827182769775, 7.4935479164123535, 1.1770542860031128], "lookat": [0.2568683922290802, 7.493315696716309, 0.7995226979255676], "orientation": [0.18429039418697357, 0.18448501825332642, 0.6830029487609863, 0.6822824478149414], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.7049100399017334, 7.492798805236816, 1.8780542612075806], "lookat": [0.2568683922290802, 7.493315696716309, 0.8370542526245117], "orientation": [0.14279069006443024, 0.14262604713439941, 0.6921567320823669, 0.6929556727409363], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.191089928150177, 7.492798805236816, 1.8780542612075806], "lookat": [0.2568683922290802, 7.493315696716309, 0.8370542526245117], "orientation": [0.14276735484600067, -0.14260271191596985, -0.692161500453949, 0.6929606795310974], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-0.5185492038726807, 8.280731201171875, 1.939992070198059], "lookat": [0.2568683922290802, 7.493315696716309, 0.7970542907714844], "orientation": [0.1421375721693039, -0.3469108045101166, -0.8578519225120544, 0.3514822721481323], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "chopping_board_66"}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_65", "reference": "chopping_board_66"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_64", "reference": "chopping_board_66"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "plate_63", "reference": "chopping_board_66"}}]}, "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_66", "support_name": "breakfast_table_idnnmz_0", "marker_name": "goal_region__chopping_board_66", "center_world": [0.2569106122938983, 8.104964014649052, 0.7061843113622079], "radius_m": 0.0918210416086163, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3060701386953877, "anchor_local_xy": [0.49000053615254086, 0.612165209412237], "pack_bbox_robot_local_xy": [[0.3755789644172666, -0.15301013732623225], [0.6044136150227136, 0.15306000136915543]], "support_bounds_robot_local_xy": [[0.2899999919877744, -0.2100001723686935], [0.6899999919877744, 0.20999982763130642]], "clamped_to_support_bounds": false}} | |