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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "Beechwood_0_garden", "activity_name": "auto_clutter_on_Beechwood_0_garden_trial_85", "surface": "desk_rzyfxk_0", "prompt": "Pick up the bowl on the desk, 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": "bowl.n.01", "fragile_picks": ["wineglass.n.01", "teacup.n.02", "goblet.n.01", "vase.n.01"], "clutter_picks": ["bowl.n.01", "mug.n.04"], "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "hpqjug"}, {"synset": "wineglass.n.01", "category": "wineglass", "count": 1, "role": "fragile", "model": "adiwil"}, {"synset": "teacup.n.02", "category": "teacup", "count": 1, "role": "fragile", "model": "cpozxi"}, {"synset": "goblet.n.01", "category": "goblet", "count": 1, "role": "fragile", "model": "nawrfs"}, {"synset": "vase.n.01", "category": "vase", "count": 1, "role": "fragile", "model": "yfqgfd"}, {"synset": "mug.n.04", "category": "mug", "count": 1, "role": "clutter", "model": "yiamah"}]}, "ltl_safety": {"activity_name": "auto_clutter_on_Beechwood_0_garden_trial_85", "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": ["teacup_*", "goblet_*", "vase_*", "wineglass_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["teacup_*", "goblet_*", "vase_*", "wineglass_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}, "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": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [4.974629878997803, 19.141571044921875, 1.2582740783691406], "lookat": [4.96150016784668, 18.92196273803711, 0.9406785368919373], "orientation": [0.008905189111828804, 0.2981632351875305, 0.9540479183197021, 0.02849438413977623], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [4.323997974395752, 18.94878578186035, 1.9592739343643188], "lookat": [4.96150016784668, 18.92196273803711, 0.9206784963607788], "orientation": [0.18823572993278503, -0.19632232189178467, -0.6946053504943848, 0.6659942269325256], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [5.5436177253723145, 18.94878578186035, 1.9592739343643188], "lookat": [4.96150016784668, 18.92196273803711, 0.9206784963607788], "orientation": [0.17464886605739594, 0.18288171291351318, 0.6996920704841614, 0.6681938171386719], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [4.1250481605529785, 18.226436614990234, 2.0205328464508057], "lookat": [4.96150016784668, 18.92196273803711, 0.9006785154342651], "orientation": [0.3403948247432709, -0.15965481102466583, -0.39348429441452026, 0.8389349579811096], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_80"}], "pipeline": "table", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "table", "target_name": "bowl_80", "support_name": "desk_rzyfxk_0", "marker_name": "goal_region__bowl_80", "center_world": [4.4057541025017235, 18.947720423866716, 0.8179830663337093], "radius_m": 0.04859846717119609, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.16199489057065364, "anchor_local_xy": [0.48893441312452973, 0.5280537473823096], "pack_bbox_robot_local_xy": [[0.31339546383919104, -0.30962511879915255], [0.6137262211190235, 0.28506141152632913]], "support_bounds_robot_local_xy": [[0.2899991573443717, -0.3618099549353838], [0.6899991573443703, 0.36180997006461574]], "clamped_to_support_bounds": false}}
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