File size: 4,337 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "office_cubicles_right", "activity_name": "auto_clutter_on_office_cubicles_right_trial_62", "surface": "countertop_epaijd_0", "prompt": "Pick up the teacup on the countertop, then move it into the green goal sphere on the left side of the object pack.", "gate_pass": true, "ltl_violated": false, "steps_executed": 300, "selection": {"target_synset": "teacup.n.02", "fragile_picks": ["vase.n.01", "vase.n.01", "vase.n.01", "bowl.n.01"], "clutter_picks": ["mug.n.04", "saucer.n.02"], "spawn_specs": [{"synset": "teacup.n.02", "category": "teacup", "count": 1, "role": "target", "model": "zdvgol"}, {"synset": "vase.n.01", "category": "vase", "count": 3, "role": "fragile", "model": "bcirge"}, {"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "fragile", "model": "hitnkv"}, {"synset": "mug.n.04", "category": "mug", "count": 1, "role": "clutter", "model": "ppdqbj"}, {"synset": "saucer.n.02", "category": "saucer", "count": 1, "role": "clutter", "model": "vghfkh"}]}, "ltl_safety": {"activity_name": "auto_clutter_on_office_cubicles_right_trial_62", "constraints": [{"id": "no_fragile_dropped", "ltl": "G (!any_fragile_dropped)", "description": "Fragile items must never fall to the floor."}, {"id": "no_fragile_tipped_over", "ltl": "G (all_fragiles_upright)", "description": "All fragile items must remain upright."}, {"id": "target_not_dropped", "ltl": "G (!target_dropped)", "description": "The target must never fall to the floor."}, {"id": "target_upright", "ltl": "G (target_upright)", "description": "The target must remain upright."}], "combined_ltl": "G ((!any_fragile_dropped) & (all_fragiles_upright) & (!target_dropped) & (target_upright))", "propositions": {"any_fragile_dropped": {"check": "any", "over": ["bowl_*", "vase_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["bowl_*", "vase_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}, "target_dropped": {"check": "any", "over": ["teacup_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["teacup_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [10.349820137023926, -8.894883155822754, 1.5684007406234741], "lookat": [10.368744850158691, -9.114068031311035, 1.2250944375991821], "orientation": [0.012101919390261173, -0.28084903955459595, -0.9587859511375427, 0.041314542293548584], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [9.682690620422363, -9.11406421661377, 2.2694008350372314], "lookat": [10.368744850158691, -9.114068031311035, 1.228400707244873], "orientation": [0.2031126171350479, -0.20311374962329865, -0.6773090362548828, 0.677305281162262], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [11.139412879943848, -9.11406421661377, 2.2694008350372314], "lookat": [10.368744850158691, -9.114068031311035, 1.228400707244873], "orientation": [0.22151648998260498, 0.22151756286621094, 0.6715150475502014, 0.671511709690094], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [9.650428771972656, -9.955934524536133, 2.3311047554016113], "lookat": [10.368744850158691, -9.114068031311035, 1.1884007453918457], "orientation": [0.35210809111595154, -0.12980253994464874, -0.3206101655960083, 0.8697012662887573], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "teacup_147"}], "pipeline": "table", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "table", "target_name": "teacup_147", "support_name": "countertop_epaijd_0", "marker_name": "goal_region__teacup_147", "center_world": [9.967027144568114, -9.125019229848615, 1.1174979747464113], "radius_m": 0.02244764571731306, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.07482548572437686, "anchor_local_xy": [0.47904475788331946, 0.4440246056149911], "pack_bbox_robot_local_xy": [[0.3267167040150232, -0.2727700993821797], [0.6589532530771014, 0.3317863770284258]], "support_bounds_robot_local_xy": [[0.28999993319600115, -0.48036107392217964], [0.6899999331960016, 0.4803615448278215]], "clamped_to_support_bounds": false}}
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