| {"episode": 1, "scene_model": "Beechwood_1_int", "activity_name": "auto_stack_same_on_Beechwood_1_int_trial_39", "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": {"xpnlup": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "xpnlup"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "xpnlup"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Beechwood_1_int_trial_39", "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": [0.7114250659942627, 7.963694095611572, 0.9864493608474731], "lookat": [0.7115907073020935, 7.743694305419922, 0.6916376352310181], "orientation": [0.00011860350787173957, -0.3150835335254669, -0.9490638971328735, 0.0003572459099814296], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.7119352221488953, 7.342329502105713, 1.687449336051941], "lookat": [0.7115907073020935, 7.743694305419922, 0.6716375946998596], "orientation": [0.18703696131706238, 8.027235890040174e-05, 0.0004216053057461977, 0.9823527336120605], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [0.7119352221488953, 8.145212173461914, 1.687449336051941], "lookat": [0.7115907073020935, 7.743694305419922, 0.6716375946998596], "orientation": [8.026456634979695e-05, 0.18710100650787354, 0.9823405742645264, 0.00042141485027968884], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.21012532711029053, 7.118919372558594, 1.6502532958984375], "lookat": [0.7115907073020935, 7.743694305419922, 0.651637613773346], "orientation": [0.3128671944141388, -0.11002971976995468, -0.3129864037036896, 0.8899702429771423], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_91"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_90", "reference": "bowl_91"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_89", "reference": "bowl_91"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_88", "reference": "bowl_91"}}]}, "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_91", "support_name": "breakfast_table_skczfi_0", "marker_name": "goal_region__bowl_91", "center_world": [0.41071806784598797, 7.743715749041147, 0.5287490725299547], "radius_m": 0.04500028513424665, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.15000095044748885, "anchor_local_xy": [0.4576125004449559, 0.30121715430290724], "pack_bbox_robot_local_xy": [[0.38216664533657196, -0.07525697708791321], [0.5332026358791511, 0.07621572863167397]], "support_bounds_robot_local_xy": [[0.29000003144389574, -0.2100000077068887], [0.6253352488010953, 0.20999999229311128]], "clamped_to_support_bounds": false}} | |