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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "Rs_int", "activity_name": "auto_liquid_transport_on_Rs_int_trial_51", "surface": "coffee_table_fqluyq_0", "prompt": "Pick up the filled beaker on the coffee_table, 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": "beaker.n.02", "fragile_picks": ["bowl.n.01", "bowl.n.01", "goblet.n.01", "goblet.n.01"], "clutter_picks": ["saucer.n.02", "saucer.n.02"], "system_name": "water", "difficulty": "medium", "spill_threshold": 0.15, "max_tilt_deg": 15, "selection_profile": "benchmark_safe", "spawn_specs": [{"synset": "beaker.n.02", "category": "beaker", "count": 1, "role": "target", "model": "sfvswx"}, {"synset": "goblet.n.01", "category": "goblet", "count": 2, "role": "fragile", "model": "nawrfs"}, {"synset": "saucer.n.02", "category": "saucer", "count": 2, "role": "clutter", "model": "mgbeah"}]}, "ltl_safety": {"activity_name": "auto_liquid_transport_on_Rs_int_trial_51", "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": ["beaker_*"], "system_name": "water", "params": {"spill_threshold": 0.15}}, "container_upright": {"check": "all", "over": ["beaker_*"], "state": "upright", "params": {"max_tilt_deg": 15.0}}, "container_dropped": {"check": "any", "over": ["beaker_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "any_fragile_dropped": {"check": "any", "over": ["goblet_*", "bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["goblet_*", "bowl_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-0.2678026556968689, -1.2146440744400024, 0.8938897848129272], "lookat": [-0.4877994954586029, -1.2158265113830566, 0.5763055086135864], "orientation": [0.2103649228811264, 0.21149863302707672, 0.6767241954803467, 0.6730967164039612], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-0.49171245098114014, -1.8416073322296143, 1.594889760017395], "lookat": [-0.4877994954586029, -1.2158265113830566, 0.556305468082428], "orientation": [0.2678326368331909, -0.0008373595192097127, -0.0030121896415948868, 0.963460385799408], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.49171245098114014, -0.5953552722930908, 1.594889760017395], "lookat": [-0.4877994954586029, -1.2158265113830566, 0.556305468082428], "orientation": [0.0008388108108192682, -0.2660213112831116, -0.9639620184898376, 0.0030395376961678267], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-1.2745130062103271, -0.4292798638343811, 1.6523516178131104], "lookat": [-0.4877994954586029, -1.2158265113830566, 0.5363054871559143], "orientation": [0.14618100225925446, -0.3528593182563782, -0.8538186550140381, 0.3537161946296692], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "beaker_49"}], "pipeline": "liquid_transport", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "liquid_transport", "target_name": "beaker_49", "support_name": "coffee_table_fqluyq_0", "marker_name": "goal_region__beaker_49", "center_world": [-0.5000413074209017, -0.7039244523793744, 0.4871343767136128], "radius_m": 0.03767894026155939, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.12559646753853132, "anchor_local_xy": [0.48167109349233683, 0.5145568498819781], "pack_bbox_robot_local_xy": [[0.3314457072372097, -0.31192436243448673], [0.6608987314025347, 0.32616214857418113]], "support_bounds_robot_local_xy": [[0.28999994119078154, -0.3751260141135231], [0.6899999411907816, 0.3751260358864771]], "clamped_to_support_bounds": false}}
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