| {"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}} | |
| {"episode": 2, "scene_model": "Wainscott_0_int", "activity_name": "auto_stack_same_on_Wainscott_0_int_trial_66", "surface": "breakfast_table_skczfi_3", "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_Wainscott_0_int_trial_66", "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": [-2.3477048873901367, 8.422477722167969, 1.210432767868042], "lookat": [-2.3484511375427246, 8.202479362487793, 0.9704327583312988], "orientation": [0.0006148620159365237, 0.36252209544181824, 0.9319736957550049, 0.001580690499395132], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-2.3500044345855713, 7.800848007202148, 1.909326434135437], "lookat": [-2.3484511375427246, 8.202479362487793, 0.9504327178001404], "orientation": [0.19702784717082977, -0.00038099815719760954, -0.0018958187429234385, 0.980396032333374], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-2.3500044345855713, 8.603731155395508, 1.909326434135437], "lookat": [-2.3484511375427246, 8.202479362487793, 0.9504327178001404], "orientation": [0.00038103980477899313, -0.1968628466129303, -0.9804291725158691, 0.0018976792925968766], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.1560282707214355, 7.458656311035156, 1.9560284614562988], "lookat": [-2.3484511375427246, 8.202479362487793, 0.9304327368736267], "orientation": [0.36482560634613037, -0.15996962785720825, -0.36833590269088745, 0.8400242328643799], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_70"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_69", "reference": "bowl_70"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_68", "reference": "bowl_70"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_67", "reference": "bowl_70"}}]}, "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_70", "support_name": "breakfast_table_skczfi_3", "marker_name": "goal_region__bowl_70", "center_world": [-2.7008958173795703, 8.202279047922882, 0.7825557918824534], "radius_m": 0.052306606629304794, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.174355355431016, "anchor_local_xy": [0.4576572942302552, 0.35089138279399923], "pack_bbox_robot_local_xy": [[0.3703727305830249, -0.09885884788223404], [0.5465522107027305, 0.08935834964747524]], "support_bounds_robot_local_xy": [[0.2900001340147783, -0.21000007393185824], [0.6253353513719777, 0.20999992606814166]], "clamped_to_support_bounds": false}} | |
| {"episode": 3, "scene_model": "restaurant_asian", "activity_name": "auto_stack_same_on_restaurant_asian_trial_93", "surface": "breakfast_table_jcqdlx_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_restaurant_asian_trial_93", "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": [-0.44307151436805725, 3.685734510421753, 1.2460180521011353], "lookat": [-0.6630710959434509, 3.6852996349334717, 1.006018042564392], "orientation": [0.2560890316963196, 0.2565957009792328, 0.6596567034721375, 0.6583541035652161], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-1.0666037797927856, 3.6843907833099365, 1.9449061155319214], "lookat": [-0.6630710959434509, 3.6852996349334717, 0.9860180020332336], "orientation": [0.1400618702173233, -0.1397467851638794, -0.6923472881317139, 0.6939083337783813], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.2637210488319397, 3.6843907833099365, 1.9449061155319214], "lookat": [-0.6630710959434509, 3.6852996349334717, 0.9860180020332336], "orientation": [0.1387755125761032, 0.13846004009246826, 0.6925972104072571, 0.6941752433776855], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-1.4136736392974854, 4.488670825958252, 1.9913568496704102], "lookat": [-0.6630710959434509, 3.6852996349334717, 0.96601802110672], "orientation": [0.14631423354148865, -0.37091678380966187, -0.8530939221382141, 0.33651694655418396], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_154"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_153", "reference": "bowl_154"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_152", "reference": "bowl_154"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_151", "reference": "bowl_154"}}]}, "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_154", "support_name": "breakfast_table_jcqdlx_0", "marker_name": "goal_region__bowl_154", "center_world": [-0.665144021707046, 4.042355340988404, 0.8183920378736047], "radius_m": 0.05229034070609018, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.17430113568696726, "anchor_local_xy": [0.4576860115952611, 0.35796455767846735], "pack_bbox_robot_local_xy": [[0.37067012240763686, -0.08846885015817652], [0.5544545975800035, 0.09651285414801647]], "support_bounds_robot_local_xy": [[0.29000002411089865, -0.20999998839568557], [0.6253352414680978, 0.21000001160431436]], "clamped_to_support_bounds": false}} | |