prompt: Pick up the bottom half waffle from the stack, then move it into the green goal sphere on the left side of the stack.

mode: same

target_model: vufawe

stack_model: vufawe

role: target

model: vufawe

role: stack

ltl: G (!any_stack_dropped)

description: No stacked object may fall to the floor.

ltl: G (all_stack_upright)

description: All stacked objects must remain upright.

ltl: G (!target_dropped)

description: The target must not fall to the floor.

ltl: G (target_upright)

description: The target must remain upright.

combined_ltl: G ((!any_stack_dropped) & (all_stack_upright) & (!target_dropped) & (target_upright))

check: any

state: dropped

check: all

state: upright

stack_mode: same

stack_height: medium

shape: sphere


prompt: Pick up the bottom half waffle from the stack, then move it into the green goal sphere on the left side of the stack.

description: The target must not fall to the floor.

description: The target must remain upright.

stack_mode: same

stack_height: medium