File size: 4,427 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "grocery_store_cafe", "activity_name": "auto_stack_same_on_grocery_store_cafe_trial_6", "surface": "pedestal_table_xrrhik_0", "prompt": "Pick up the bottom bottle of chili pepper from 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": "same", "target_synset": "bottle_of_chili_pepper.n.01", "stack_synset": "bottle_of_chili_pepper.n.01", "target_category": "bottle_of_chili_pepper", "target_model": "hjalqq", "stack_category": "bottle_of_chili_pepper", "stack_model": "hjalqq", "stack_above": 3, "spawn_specs": [{"synset": "bottle_of_chili_pepper.n.01", "category": "bottle_of_chili_pepper", "count": 1, "role": "target", "model": "hjalqq"}, {"synset": "bottle_of_chili_pepper.n.01", "category": "bottle_of_chili_pepper", "count": 3, "role": "stack", "model": "hjalqq"}], "_room_instance": "dining_room_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_grocery_store_cafe_trial_6", "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": ["bottle_of_chili_pepper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bottle_of_chili_pepper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bottle_of_chili_pepper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bottle_of_chili_pepper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [1.024522590637207, 4.389765024185181, 1.185445785522461], "lookat": [0.33743372559547424, 4.3911309242248535, 0.7854457855224609], "orientation": [0.352799654006958, 0.35209891200065613, 0.6123987436294556, 0.6136175990104675], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.33494971692562103, 3.7001468658447267, 1.885445785522461], "lookat": [0.33743372559547424, 4.3911309242248535, 0.7854457855224609], "orientation": [0.27677643299102783, -0.0004974852781742811, -0.0017272058175876737, 0.9609326720237732], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [0.33494971692562103, 5.079383182525635, 1.885445785522461], "lookat": [0.33743372559547424, 4.3911309242248535, 0.7854457855224609], "orientation": [0.0004979107179678977, -0.2759198248386383, -0.9611789584159851, 0.001734493998810649], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-0.6192902326583862, 5.169244766235352, 1.8996472358703613], "lookat": [0.33743372559547424, 4.3911309242248535, 0.8352176547050476], "orientation": [0.17881755530834198, -0.3759268522262573, -0.8210753798484802, 0.3905618488788605], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [], "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "target_bottle_of_chili_pepper_ep1_1", "support_name": "pedestal_table_xrrhik_0", "marker_name": "goal_region__target_bottle_of_chili_pepper_ep1_1", "center_world": [0.33374809380767456, 4.5143749390263626, 0.7213753163814545], "radius_m": 0.018150267004966737, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.060500890016555786, "anchor_local_xy": [0.6243272486939573, 0.12548351942733582], "pack_bbox_robot_local_xy": [[0.5940755450346724, -0.029987365323427537], [0.6596528289256409, 0.03473218440250214]], "support_bounds_robot_local_xy": [[0.23594498031661543, -0.3887607433856534], [1.015123181407603, 0.390508052988497]], "clamped_to_support_bounds": false}}
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