| {"episode": 1, "scene_model": "Pomaria_0_garden", "activity_name": "auto_stack_same_on_Pomaria_0_garden_trial_17", "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": {"qzodht": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "qzodht"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "qzodht"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Pomaria_0_garden_trial_17", "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": [-3.0012569427490234, 6.07773494720459, 1.1880935430526733], "lookat": [-3.221256971359253, 6.077663421630859, 0.8655073046684265], "orientation": [0.208435520529747, 0.20850330591201782, 0.675787627696991, 0.6755679249763489], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-3.11118221282959, 6.077621936798096, 1.9087729454040527], "lookat": [-3.221256971359253, 6.077663421630859, 0.848093569278717], "orientation": [0.036550384014844894, 0.03653660789132118, 0.7060287594795227, 0.7062949538230896], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-3.624595880508423, 6.077513694763184, 1.8890935182571411], "lookat": [-3.221256971359253, 6.077663421630859, 0.848093569278717], "orientation": [0.12997017800807953, -0.12992194294929504, -0.6949350237846375, 0.6951930522918701], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.9593935012817383, 6.870596885681152, 1.9517959356307983], "lookat": [-3.221256971359253, 6.077663421630859, 0.8255072832107544], "orientation": [0.13680481910705566, -0.34774184226989746, -0.8631618618965149, 0.33957576751708984], "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": [-3.222232737422985, 6.486875914993199, 0.7426129216053249], "radius_m": 0.06100553052051056, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.20335176840170188, "anchor_local_xy": [0.45858939659495945, 0.4093622202300158], "pack_bbox_robot_local_xy": [[0.35582993443712896, -0.10395487078740295], [0.5703019635616555, 0.10433456762746296]], "support_bounds_robot_local_xy": [[0.2899999378329232, -0.21000021226745247], [0.6253351551901223, 0.20999978773254746]], "clamped_to_support_bounds": false}} | |