| {"episode": 2, "scene_model": "office_large", "activity_name": "auto_stack_same_on_office_large_trial_131", "surface": "desk_ghtnfq_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_office_large_trial_131", "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": [13.688789367675781, 10.66962718963623, 1.2153035402297974], "lookat": [13.688896179199219, 10.449626922607422, 0.835303544998169], "orientation": [6.297796062426642e-05, -0.2593974173069, -0.9657706618309021, 0.00023447521380148828], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [13.689095497131348, 10.11648941040039, 1.9163035154342651], "lookat": [13.688896179199219, 10.449626922607422, 0.8753035664558411], "orientation": [0.1542409211397171, 4.614158024196513e-05, 0.00029557273956015706, 0.9880331754684448], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [13.689095497131348, 10.782089233398438, 1.9163035154342651], "lookat": [13.688896179199219, 10.449626922607422, 0.8753035664558411], "orientation": [4.614928184309974e-05, 0.15395015478134155, 0.9880785346031189, 0.0002961939899250865], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [12.894253730773926, 9.777167320251465, 1.9880086183547974], "lookat": [13.688896179199219, 10.449626922607422, 0.835303544998169], "orientation": [0.325732946395874, -0.15106447041034698, -0.3926689028739929, 0.8466928005218506], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "saucer_178"}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_177", "reference": "saucer_178"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_176", "reference": "saucer_178"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "saucer_175", "reference": "saucer_178"}}]}, "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_178", "support_name": "desk_ghtnfq_0", "marker_name": "goal_region__saucer_178", "center_world": [13.152863429329848, 10.449290461883283, 0.744393700977614], "radius_m": 0.08022004969937536, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2674001656645846, "anchor_local_xy": [0.41000098739597834, 0.5362320678014992], "pack_bbox_robot_local_xy": [[0.27503454549265116, -0.13489964152707998], [0.5465967469539599, 0.1351318193046224]], "support_bounds_robot_local_xy": [[0.2900000500039124, -0.21000016992660275], [0.5300000500039126, 0.2099998300733989]], "clamped_to_support_bounds": false}} | |