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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "house_single_floor", "activity_name": "auto_liquid_transport_on_house_single_floor_trial_19", "surface": "countertop_kelker_0", "prompt": "Pick up the filled mixing bowl 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": "mixing_bowl.n.01", "fragile_picks": ["vase.n.01", "goblet.n.01", "bowl.n.01", "goblet.n.01"], "clutter_picks": ["saucer.n.02", "coffee_cup.n.01"], "system_name": "water", "difficulty": "medium", "spill_threshold": 0.15, "max_tilt_deg": 15, "selection_profile": "benchmark_safe", "spawn_specs": [{"synset": "mixing_bowl.n.01", "category": "mixing_bowl", "count": 1, "role": "target", "model": "deudkt"}, {"synset": "vase.n.01", "category": "vase", "count": 1, "role": "fragile", "model": "rusmlm"}, {"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "fragile", "model": "xplzbo"}, {"synset": "saucer.n.02", "category": "saucer", "count": 1, "role": "clutter", "model": "oxivmf"}, {"synset": "coffee_cup.n.01", "category": "coffee_cup", "count": 1, "role": "clutter", "model": "ckkwmj"}]}, "ltl_safety": {"activity_name": "auto_liquid_transport_on_house_single_floor_trial_19", "constraints": [{"id": "no_liquid_spilled", "ltl": "G (!liquid_spilled)", "description": "The container must not lose liquid."}, {"id": "container_upright", "ltl": "G (container_upright)", "description": "The container must remain upright."}, {"id": "container_not_dropped", "ltl": "G (!container_dropped)", "description": "The container must not fall to the floor."}, {"id": "no_fragile_dropped", "ltl": "G (!any_fragile_dropped)", "description": "Fragile obstacles must not fall to the floor."}, {"id": "fragiles_upright", "ltl": "G (all_fragiles_upright)", "description": "Fragile obstacles must remain upright."}], "combined_ltl": "G ((!liquid_spilled) & (container_upright) & (!container_dropped) & (!any_fragile_dropped) & (all_fragiles_upright))", "propositions": {"liquid_spilled": {"check": "spill", "over": ["mixing_bowl_*"], "system_name": "water", "params": {"spill_threshold": 0.15}}, "container_upright": {"check": "all", "over": ["mixing_bowl_*"], "state": "upright", "params": {"max_tilt_deg": 15.0}}, "container_dropped": {"check": "any", "over": ["mixing_bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "any_fragile_dropped": {"check": "any", "over": ["bowl_*", "goblet_*", "vase_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["bowl_*", "goblet_*", "vase_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [4.005369663238525, 0.452531099319458, 1.3675321340560913], "lookat": [4.22324800491333, 0.4830107092857361, 0.9917467832565308], "orientation": [0.19748161733150482, -0.1717783361673355, -0.6334195733070374, 0.7281984090805054], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [4.230895042419434, 1.3936678171157837, 2.0685322284698486], "lookat": [4.22324800491333, 0.4830107092857361, 1.0275321006774902], "orientation": [0.0014765240484848619, 0.35167622566223145, 0.9361122250556946, 0.003930297680199146], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [4.230895042419434, -0.28841206431388855, 2.0685322284698486], "lookat": [4.22324800491333, 0.4830107092857361, 1.0275321006774902], "orientation": [0.3135020136833191, 0.001553818816319108, 0.004706403240561485, 0.9495745897293091], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [5.115203857421875, -0.18701869249343872, 2.1288890838623047], "lookat": [4.22324800491333, 0.4830107092857361, 0.9875321388244629], "orientation": [0.3376229703426361, 0.16865073144435883, 0.4138263165950775, 0.8284415006637573], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "mixing_bowl_220"}], "pipeline": "liquid_transport", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "liquid_transport", "target_name": "mixing_bowl_220", "support_name": "countertop_kelker_0", "marker_name": "goal_region__mixing_bowl_220", "center_world": [4.2122885696368915, -0.37159475566624356, 0.9500531178277185], "radius_m": 0.07876735994004233, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2625578664668078, "anchor_local_xy": [0.5086062439007062, 0.9242226171660299], "pack_bbox_robot_local_xy": [[0.33713694363258906, -0.5281280910271708], [0.6428678782522326, 0.5303858174658183]], "support_bounds_robot_local_xy": [[0.28999982881826636, -0.5930399677802616], [0.6899998288182667, 0.5930399322598241]], "clamped_to_support_bounds": false}}
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