File size: 4,221 Bytes
5f9bad0 | 1 2 | {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_same_on_house_double_floor_upper_trial_35", "surface": "nightstand_roxnbe_0", "prompt": "Pick up the bottom soap dish 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": "soap_dish.n.01", "stack_synset": "soap_dish.n.01", "target_category": "soap_dish", "target_model": "ownvqj", "stack_category": "soap_dish", "stack_model": "ownvqj", "stack_above": 3, "spawn_specs": [{"synset": "soap_dish.n.01", "category": "soap_dish", "count": 1, "role": "target", "model": "ownvqj"}, {"synset": "soap_dish.n.01", "category": "soap_dish", "count": 3, "role": "stack", "model": "ownvqj"}], "_room_instance": "bedroom_1"}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_double_floor_upper_trial_35", "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": ["soap_dish_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["soap_dish_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["soap_dish_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["soap_dish_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [5.924748659133911, 4.309513854980469, 1.1999992728233337], "lookat": [5.925365447998047, 3.7431793212890625, 0.7999992728233337], "orientation": [0.0002505495212972164, -0.45994094014167786, -0.8879493474960327, 0.0004837040323764086], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [5.237144660949707, 3.7442634105682373, 1.8999992728233337], "lookat": [5.925365447998047, 3.7431793212890625, 0.7999992728233337], "orientation": [0.1949436068534851, -0.19525091350078583, -0.6801945567131042, 0.6791239976882935], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [6.612352657318115, 3.7442634105682373, 1.8999992728233337], "lookat": [5.925365447998047, 3.7431793212890625, 0.7999992728233337], "orientation": [0.19466951489448547, 0.19497695565223694, 0.6802741885185242, 0.6792015433311462], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [5.143460750579834, 2.9435296058654785, 1.9455456733703613], "lookat": [5.925365447998047, 3.7431793212890625, 0.7589821815490723], "orientation": [0.3416844606399536, -0.13928988575935364, -0.3508569002151489, 0.8606680035591125], "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_soap_dish_ep1_1", "support_name": "nightstand_roxnbe_0", "marker_name": "goal_region__target_soap_dish_ep1_1", "center_world": [5.563294810015351, 3.7444535524617066, 0.716448038816452], "radius_m": 0.05420866012573242, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.1806955337524414, "anchor_local_xy": [0.5153766375827901, 0.3617279108724176], "pack_bbox_robot_local_xy": [[0.4457256664569566, -0.09167994555450848], [0.5829340873011647, 0.09068461024375554]], "support_bounds_robot_local_xy": [[0.2499313804201657, -0.387377381965968], [0.7805708578085563, 0.3879254486276534]], "clamped_to_support_bounds": false}}
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