File size: 4,223 Bytes
5f9bad0 | 1 2 | {"episode": 2, "scene_model": "restaurant_brunch", "activity_name": "auto_stack_flat_on_restaurant_brunch_trial_46", "surface": "coffee_table_zisekv_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": "dining_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_restaurant_brunch_trial_46", "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": [3.425071287155151, 0.42007407546043396, 0.9535382986068726], "lookat": [2.8563804626464844, 0.42007976770401, 0.5535382986068725], "orientation": [0.3258424997329712, 0.32583925127983093, 0.6275538206100464, 0.627560019493103], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [2.8605493307113647, -0.34120171070098876, 1.6535382986068725], "lookat": [2.8563804626464844, 0.42007976770401, 0.5535382986068725], "orientation": [0.29809442162513733, 0.0008162175072357059, 0.002613621763885021, 0.9545324444770813], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.8605493307113647, 1.1813498616218567, 1.6535382986068725], "lookat": [2.8563804626464844, 0.42007976770401, 0.5535382986068725], "orientation": [0.0008162330486811697, 0.29809102416038513, 0.9545335173606873, 0.0026137041859328747], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [2.0257296562194824, 1.235978603363037, 1.6440701484680176], "lookat": [2.8563804626464844, 0.42007976770401, 0.7761325240135193], "orientation": [0.17349638044834137, -0.413607120513916, -0.8241971135139465, 0.3457271456718445], "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": "coffee_table_zisekv_0", "marker_name": "goal_region__target_pop_case_ep1_1", "center_world": [2.860140182479014, 1.0697464300778456, 0.5057950615882874], "radius_m": 0.0974111795425415, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.3247039318084717, "anchor_local_xy": [0.5140801501605222, 0.6497503289891573], "pack_bbox_robot_local_xy": [[0.40583716702018546, -0.16202046013065144], [0.6223231333008592, 0.16269443127644978]], "support_bounds_robot_local_xy": [[0.24997688080185065, -0.46121103348075804], [0.7790677405998179, 0.4613673531865626]], "clamped_to_support_bounds": false}}
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