| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_same_on_house_double_floor_upper_trial_1", "surface": "desk_uqcmzf_0", "prompt": "Pick up the bottom saucer from 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": "same", "target_synset": "saucer.n.02", "stack_synset": "saucer.n.02", "stack_above": 3, "sampling_whitelist": {"saucer.n.02": {"saucer": {"oxivmf": null}}}, "spawn_specs": [{"synset": "saucer.n.02", "category": "saucer", "count": 1, "role": "target", "model": "oxivmf"}, {"synset": "saucer.n.02", "category": "saucer", "count": 3, "role": "stack", "model": "oxivmf"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_double_floor_upper_trial_1", "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": ["saucer_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["saucer_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["saucer_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["saucer_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [2.8742997646331787, -3.8977019786834717, 1.1967663764953613], "lookat": [3.094299793243408, -3.8977625370025635, 0.8167664408683777], "orientation": [0.18339622020721436, -0.18344669044017792, -0.6829969882965088, 0.682809054851532], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.42692494392395, -3.8978753089904785, 1.8977664709091187], "lookat": [3.094299793243408, -3.8977625370025635, 0.856766402721405], "orientation": [0.10892727226018906, 0.1088903546333313, 0.6985509395599365, 0.6987878084182739], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.7613251209259033, -3.8978753089904785, 1.8977664709091187], "lookat": [3.094299793243408, -3.8977625370025635, 0.856766402721405], "orientation": [0.10903366655111313, -0.10899674147367477, -0.6985344290733337, 0.698771059513092], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [3.765488862991333, -4.692957878112793, 1.2627532482147217], "lookat": [3.094299793243408, -3.8977625370025635, 0.8167664408683777], "orientation": [0.5170125961303711, 0.18902698159217834, 0.28667160868644714, 0.7840830087661743], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "saucer_45"}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_44", "reference": "saucer_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_43", "reference": "saucer_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_42", "reference": "saucer_45"}}]}, "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "saucer_45", "support_name": "desk_uqcmzf_0", "marker_name": "goal_region__saucer_45", "center_world": [3.0941236569235495, -4.4341316380132625, 0.7258465673538046], "radius_m": 0.08021785377109322, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2673928459036441, "anchor_local_xy": [0.4100014613320657, 0.536256329022784], "pack_bbox_robot_local_xy": [[0.27455404767708824, -0.1353473704227816], [0.5452513111706363, 0.13516706016731778]], "support_bounds_robot_local_xy": [[0.29000008161628266, -0.20999996855280184], [0.5300000816162829, 0.2100000314471981]], "clamped_to_support_bounds": false}} | |