Datasets:

IDEAS-Lab-Northwestern
/

6fam-base

{"episode": 2, "scene_model": "office_large", "activity_name": "auto_stack_flat_on_office_large_trial_36", "surface": "desk_qpuflh_2", "prompt": "Pick up the flat object from under the stack, then move it into the green goal sphere on the left side of the stack.", "gate_pass": true, "ltl_violated": false, "steps_executed": 60, "n_objects_requested": 4, "n_objects_active": 4, "selection": {"mode": "flat", "target_synset": "quiche.n.01", "stack_synset": "box_of_tissues.n.01", "target_category": "quiche", "target_model": "borxmv", "stack_category": "box_of_tissues", "stack_model": "uglbjc", "stack_above": 3, "spawn_specs": [{"synset": "quiche.n.01", "category": "quiche", "count": 1, "role": "target", "model": "borxmv"}, {"synset": "box_of_tissues.n.01", "category": "box_of_tissues", "count": 3, "role": "stack", "model": "uglbjc"}], "_room_instance": "private_office_5"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_office_large_trial_36", "constraints": [{"id": "no_stack_dropped", "ltl": "G (!any_stack_dropped)", "description": "No stacked object may fall to the floor."}, {"id": "stack_upright", "ltl": "G (all_stack_upright)", "description": "All stacked objects must remain upright."}, {"id": "target_not_dropped", "ltl": "G (!target_dropped)", "description": "The target must not fall to the floor."}, {"id": "target_upright", "ltl": "G (target_upright)", "description": "The target must remain upright."}], "combined_ltl": "G ((!any_stack_dropped) & (all_stack_upright) & (!target_dropped) & (target_upright))", "propositions": {"any_stack_dropped": {"check": "any", "over": ["box_of_tissues_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["box_of_tissues_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["quiche_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["quiche_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [7.907416343688965, 3.5982497215270994, 1.23037189245224], "lookat": [8.970287322998047, 1.912477731704712, 0.83037189245224], "orientation": [0.17590656876564026, -0.6088197231292725, -0.7431620359420776, 0.2147221714258194], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [6.199668121337891, 2.286620020866394, 1.93037189245224], "lookat": [8.970287322998047, 1.912477731704712, 0.83037189245224], "orientation": [0.3704865276813507, -0.4238795042037964, -0.6222848296165466, 0.543900191783905], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [9.61516456604004, 2.286620020866394, 1.93037189245224], "lookat": [8.970287322998047, 1.912477731704712, 0.83037189245224], "orientation": [0.14645275473594666, 0.2542847692966461, 0.8284052014350891, 0.47711166739463806], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [8.17845344543457, 1.1979368925094604, 1.9827778339385986], "lookat": [8.970287322998047, 1.912477731704712, 0.8368346691131592], "orientation": [0.3344918489456177, -0.14870613813400269, -0.37804073095321655, 0.8503451943397522], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [], "pipeline": "stack_flat", "stack_mode": "flat", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_flat", "target_name": "target_quiche_ep1_1", "support_name": "desk_qpuflh_2", "marker_name": "goal_region__target_quiche_ep1_1", "center_world": [8.531941200972112, 1.9136917772687811, 0.7438965141773224], "radius_m": 0.06578435897827148, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.21928119659423828, "anchor_local_xy": [0.4432901673996671, 0.438950325815883], "pack_bbox_robot_local_xy": [[0.3342905564163951, -0.1092979308906105], [0.5522897783829391, 0.1100285309245256]], "support_bounds_robot_local_xy": [[-0.195833378248972, -0.3444056798477031], [1.8280107570669406, 2.471510934401513]], "clamped_to_support_bounds": false}}
{"episode": 3, "scene_model": "restaurant_asian", "activity_name": "auto_stack_flat_on_restaurant_asian_trial_37", "surface": "breakfast_table_yaanqr_0", "prompt": "Pick up the flat object from under the stack, then move it into the green goal sphere on the left side of the stack.", "gate_pass": true, "ltl_violated": false, "steps_executed": 60, "n_objects_requested": 4, "n_objects_active": 4, "selection": {"mode": "flat", "target_synset": "quiche.n.01", "stack_synset": "box_of_tissues.n.01", "target_category": "quiche", "target_model": "borxmv", "stack_category": "box_of_tissues", "stack_model": "uglbjc", "stack_above": 3, "spawn_specs": [{"synset": "quiche.n.01", "category": "quiche", "count": 1, "role": "target", "model": "borxmv"}, {"synset": "box_of_tissues.n.01", "category": "box_of_tissues", "count": 3, "role": "stack", "model": "uglbjc"}], "_room_instance": "dining_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_restaurant_asian_trial_37", "constraints": [{"id": "no_stack_dropped", "ltl": "G (!any_stack_dropped)", "description": "No stacked object may fall to the floor."}, {"id": "stack_upright", "ltl": "G (all_stack_upright)", "description": "All stacked objects must remain upright."}, {"id": "target_not_dropped", "ltl": "G (!target_dropped)", "description": "The target must not fall to the floor."}, {"id": "target_upright", "ltl": "G (target_upright)", "description": "The target must remain upright."}], "combined_ltl": "G ((!any_stack_dropped) & (all_stack_upright) & (!target_dropped) & (target_upright))", "propositions": {"any_stack_dropped": {"check": "any", "over": ["box_of_tissues_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["box_of_tissues_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["quiche_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["quiche_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-6.157043743133545, -2.441378116607666, 1.2611036896705627], "lookat": [-5.300145149230957, -2.4425716400146484, 0.8611036896705627], "orientation": [0.3795433044433594, -0.38007229566574097, -0.5968596935272217, 0.5960289835929871], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-5.299999952316284, -1.7843138694763183, 1.9611036896705627], "lookat": [-5.300145149230957, -2.4425716400146484, 0.8611036896705627], "orientation": [2.9329070457606576e-05, 0.26637202501296997, 0.9638702869415283, 0.00010612758342176676], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-5.299999952316284, -3.0984423637390135, 1.9611036896705627], "lookat": [-5.300145149230957, -2.4425716400146484, 0.8611036896705627], "orientation": [0.26560112833976746, 2.9351169359870255e-05, 0.00010653932258719578, 0.9640830159187317], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-4.13554573059082, -3.201582431793213, 1.9606866836547852], "lookat": [-5.300145149230957, -2.4425716400146484, 0.8675601482391357], "orientation": [0.3841758072376251, 0.20818382501602173, 0.42854925990104675, 0.7908312082290649], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [], "pipeline": "stack_flat", "stack_mode": "flat", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_flat", "target_name": "target_quiche_ep1_1", "support_name": "breakfast_table_yaanqr_0", "marker_name": "goal_region__target_quiche_ep1_1", "center_world": [-5.300076880636235, -2.879373039287281, 0.7746348977088928], "radius_m": 0.06578450202941895, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.21928167343139648, "anchor_local_xy": [0.8071334370488672, 0.4379159174585339], "pack_bbox_robot_local_xy": [[0.697489079616641, -0.10896712058662394], [0.9167777944810934, 0.10899340731143921]], "support_bounds_robot_local_xy": [[0.2499870317830625, -0.35716076933105967], [1.3640976845969366, 0.35700371802843606]], "clamped_to_support_bounds": false}}