| {"episode": 1, "scene_model": "Wainscott_0_garden", "activity_name": "auto_stack_same_on_Wainscott_0_garden_trial_22", "surface": "coffee_table_dnsjnv_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": {"rlwpcd": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "rlwpcd"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "rlwpcd"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Wainscott_0_garden_trial_22", "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": [7.64253568649292, -1.7963651418685913, 0.9050070643424988], "lookat": [7.4225358963012695, -1.7964015007019043, 0.5525072813034058], "orientation": [0.19470404088497162, 0.19473621249198914, 0.6798238158226013, 0.6797115206718445], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [7.087666988372803, -1.7964695692062378, 1.6060069799423218], "lookat": [7.4225358963012695, -1.7964015007019043, 0.5650070905685425], "orientation": [0.10960261523723602, -0.10958033800125122, -0.6984915733337402, 0.69863361120224], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [7.756961822509766, -1.7964695692062378, 1.6060069799423218], "lookat": [7.4225358963012695, -1.7964015007019043, 0.5650070905685425], "orientation": [0.1094679981470108, 0.1094457134604454, 0.698512613773346, 0.69865483045578], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [6.748811721801758, -1.001639723777771, 1.6775729656219482], "lookat": [7.4225358963012695, -1.7964015007019043, 0.5250070691108704], "orientation": [0.12373235076665878, -0.33731040358543396, -0.876140832901001, 0.3213863670825958], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_82"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_81", "reference": "bowl_82"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_80", "reference": "bowl_82"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_79", "reference": "bowl_82"}}]}, "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_82", "support_name": "coffee_table_dnsjnv_0", "marker_name": "goal_region__bowl_82", "center_world": [7.422987167165377, -1.5661627796869206, 0.4545446911321098], "radius_m": 0.03469110468329468, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.11563701561098227, "anchor_local_xy": [0.41195601634750556, 0.23030678951931716], "pack_bbox_robot_local_xy": [[0.3516561072537776, -0.05489338814709699], [0.472717611776166, 0.056851266102843745]], "support_bounds_robot_local_xy": [[0.2900001844814062, -0.12745593695376356], [0.532566189345884, 0.12745600062319218]], "clamped_to_support_bounds": false}} | |