| {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_same_on_Pomaria_0_garden_trial_13", "surface": "breakfast_table_skczfi_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": {"wryghu": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "wryghu"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "wryghu"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Pomaria_0_garden_trial_13", "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": [-3.00160551071167, 6.070528030395508, 1.1880935430526733], "lookat": [-3.2215938568115234, 6.072790622711182, 0.9361473917961121], "orientation": [0.249644935131073, 0.24709051847457886, 0.6586379408836365, 0.665446937084198], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-3.1109795570373535, 6.074097156524658, 1.908724308013916], "lookat": [-3.2215938568115234, 6.072790622711182, 0.9161473512649536], "orientation": [0.03898894786834717, 0.03945218771696091, 0.7101752758026123, 0.7018365263938904], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-3.624595880508423, 6.077513694763184, 1.8890935182571411], "lookat": [-3.2215938568115234, 6.072790622711182, 0.9161473512649536], "orientation": [0.1371457278728485, -0.1387624591588974, -0.6975703835487366, 0.6894429922103882], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.959810256958008, 6.883347511291504, 1.93848717212677], "lookat": [-3.2215938568115234, 6.072790622711182, 0.8961473703384399], "orientation": [0.1423555314540863, -0.36772090196609497, -0.8569979667663574, 0.33176901936531067], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_60"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_59", "reference": "bowl_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_58", "reference": "bowl_60"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_57", "reference": "bowl_60"}}]}, "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_60", "support_name": "breakfast_table_skczfi_0", "marker_name": "goal_region__bowl_60", "center_world": [-3.2232730780778747, 6.338995299304471, 0.7422762643513585], "radius_m": 0.039006052347457576, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.13002017449152525, "anchor_local_xy": [0.45754905594006967, 0.2614816045412871], "pack_bbox_robot_local_xy": [[0.391477233985293, -0.0896005002517164], [0.5354086141884178, 0.06645134280399922]], "support_bounds_robot_local_xy": [[0.2899999378329232, -0.21000021226745247], [0.6253351551901223, 0.20999978773254746]], "clamped_to_support_bounds": false}} | |
| {"episode": 2, "scene_model": "Pomaria_0_int", "activity_name": "auto_stack_same_on_Pomaria_0_int_trial_80", "surface": "breakfast_table_idnnmz_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": {"wryghu": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "wryghu"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "wryghu"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Pomaria_0_int_trial_80", "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": [-8.209718704223633, -1.3347556591033936, 1.1770546436309814], "lookat": [-7.989722728729248, -1.3333569765090942, 0.9247938990592957], "orientation": [0.24895434081554413, -0.24737660586833954, -0.6600196957588196, 0.6642292737960815], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-7.589980602264404, -1.3304580450057983, 1.8780547380447388], "lookat": [-7.989722728729248, -1.3333569765090942, 0.9047938585281372], "orientation": [0.13642147183418274, 0.1374143809080124, 0.6962350606918335, 0.6912042498588562], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-8.392863273620605, -1.3304580450057983, 1.8780547380447388], "lookat": [-7.989722728729248, -1.3333569765090942, 0.9047938585281372], "orientation": [0.1374567747116089, -0.13844875991344452, -0.6960080862045288, 0.691021203994751], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-7.2423882484436035, -2.131828784942627, 1.9279394149780273], "lookat": [-7.989722728729248, -1.3333569765090942, 0.8847938776016235], "orientation": [0.36605390906333923, 0.14458106458187103, 0.33770784735679626, 0.8550170660018921], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_55"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_54", "reference": "bowl_55"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_53", "reference": "bowl_55"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_52", "reference": "bowl_55"}}]}, "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_55", "support_name": "breakfast_table_idnnmz_0", "marker_name": "goal_region__bowl_55", "center_world": [-7.9915076324960985, -1.6099097818326633, 0.7312380218080857], "radius_m": 0.03897493102809841, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.12991643676032805, "anchor_local_xy": [0.4577532837412157, 0.2794517368268649], "pack_bbox_robot_local_xy": [[0.37955019851480554, -0.06683527286828761], [0.5237925961173744, 0.08457708168637283]], "support_bounds_robot_local_xy": [[0.28999991425871396, -0.20999999981471756], [0.6253351316159126, 0.21000000018528237]], "clamped_to_support_bounds": false}} | |