| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_same_on_house_double_floor_upper_trial_7", "surface": "desk_uqcmzf_0", "prompt": "Pick up the bottom bowl 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": "bowl.n.01", "stack_synset": "bowl.n.01", "stack_above": 3, "sampling_whitelist": {"bowl.n.01": {"bowl": {"xplzbo": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "xplzbo"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "xplzbo"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_double_floor_upper_trial_7", "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": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [2.8763210773468018, -3.8978073596954346, 1.1985297203063965], "lookat": [3.0963211059570312, -3.8978312015533447, 0.9585297107696533], "orientation": [0.25632861256599426, -0.2563563585281372, -0.6590413451194763, 0.658970057964325], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.42692494392395, -3.8978753089904785, 1.8977664709091187], "lookat": [3.0963211059570312, -3.8978312015533447, 0.9385296702384949], "orientation": [0.11681556701660156, 0.1167999655008316, 0.6973456740379333, 0.6974387764930725], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.7613251209259033, -3.8978753089904785, 1.8977664709091187], "lookat": [3.0963211059570312, -3.8978312015533447, 0.9385296702384949], "orientation": [0.11824030429124832, -0.11822473257780075, -0.6971061825752258, 0.6971979737281799], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [3.777557373046875, -4.708000659942627, 1.2495695352554321], "lookat": [3.0963211059570312, -3.8978312015533447, 0.9185296893119812], "orientation": [0.5564272403717041, 0.20284757018089294, 0.27597445249557495, 0.7570202350616455], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_45"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_44", "reference": "bowl_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_43", "reference": "bowl_45"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_42", "reference": "bowl_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": "bowl_45", "support_name": "desk_uqcmzf_0", "marker_name": "goal_region__bowl_45", "center_world": [3.0936953408564696, -4.2503965873909, 0.770984888358053], "radius_m": 0.05262852814781733, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.1754284271593911, "anchor_local_xy": [0.41042977739914566, 0.35252127840042097], "pack_bbox_robot_local_xy": [[0.3092667760615453, -0.0905216718787998], [0.4987460664579304, 0.0893786376613343]], "support_bounds_robot_local_xy": [[0.29000008161628266, -0.20999996855280184], [0.5300000816162829, 0.2100000314471981]], "clamped_to_support_bounds": false}} | |