File size: 4,187 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "restaurant_brunch", "activity_name": "auto_stack_flat_on_restaurant_brunch_trial_44", "surface": "bar_jvkwcc_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": "pop_case.n.01", "stack_synset": "box_of_candy.n.01", "target_category": "pop_case", "target_model": "qcfxec", "stack_category": "box_of_candy", "stack_model": "gvreky", "stack_above": 3, "spawn_specs": [{"synset": "pop_case.n.01", "category": "pop_case", "count": 1, "role": "target", "model": "qcfxec"}, {"synset": "box_of_candy.n.01", "category": "box_of_candy", "count": 3, "role": "stack", "model": "gvreky"}], "_room_instance": "bar_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_restaurant_brunch_trial_44", "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_candy_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["box_of_candy_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["pop_case_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["pop_case_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [3.3421626567840574, 5.871057987213135, 1.7313179969787598], "lookat": [2.767446279525757, 5.87104606628418, 1.3313179969787599], "orientation": [0.32738998532295227, 0.3273967504501343, 0.626754879951477, 0.6267419457435608], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [2.7669122219085693, 4.556857776641846, 2.43131799697876], "lookat": [2.767446279525757, 5.87104606628418, 1.3313179969787599], "orientation": [0.4231721758842468, -8.598398562753573e-05, -0.00018409935000818223, 0.9060492515563965], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.7669122219085693, 7.185258197784424, 2.43131799697876], "lookat": [2.767446279525757, 5.87104606628418, 1.3313179969787599], "orientation": [8.59928477439098e-05, -0.42317622900009155, -0.9060474038124084, 0.00018411618657410145], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [1.9172734022140503, 6.684906959533691, 2.4202828407287598], "lookat": [2.767446279525757, 5.87104606628418, 1.5540286302566528], "orientation": [0.1772175431251526, -0.4149779677391052, -0.820700466632843, 0.3504824936389923], "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_pop_case_ep1_1", "support_name": "bar_jvkwcc_0", "marker_name": "goal_region__target_pop_case_ep1_1", "center_world": [2.7668420294736222, 6.520715103881844, 1.2820664644241333], "radius_m": 0.09740910530090331, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.32469701766967773, "anchor_local_xy": [0.5251487336582266, 0.6497351383341454], "pack_bbox_robot_local_xy": [[0.4172330287699295, -0.16201810922699816], [0.6330644385465236, 0.1626896118296288]], "support_bounds_robot_local_xy": [[0.24995041152966851, -1.0141358348906124], [0.8005518824621144, 1.0142918867542132]], "clamped_to_support_bounds": false}}
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