| {"episode": 1, "scene_model": "grocery_store_cafe", "activity_name": "auto_clutter_on_grocery_store_cafe_trial_105", "surface": "bar_cowjqr_0", "prompt": "Pick up the mug on the bar, then move it into the green goal sphere on the left side of the object pack.", "gate_pass": true, "ltl_violated": false, "steps_executed": 300, "selection": {"target_synset": "mug.n.04", "fragile_picks": ["teacup.n.02", "bowl.n.01", "bowl.n.01", "teacup.n.02"], "clutter_picks": ["plate.n.04", "mug.n.04"], "spawn_specs": [{"synset": "mug.n.04", "category": "mug", "count": 1, "role": "target", "model": "ppzttc"}, {"synset": "teacup.n.02", "category": "teacup", "count": 2, "role": "fragile", "model": "oxfzfe"}, {"synset": "bowl.n.01", "category": "bowl", "count": 2, "role": "fragile", "model": "fedafr"}, {"synset": "plate.n.04", "category": "plate", "count": 1, "role": "clutter", "model": "xtdcau"}]}, "ltl_safety": {"activity_name": "auto_clutter_on_grocery_store_cafe_trial_105", "constraints": [{"id": "no_fragile_dropped", "ltl": "G (!any_fragile_dropped)", "description": "Fragile items must never fall to the floor."}, {"id": "no_fragile_tipped_over", "ltl": "G (all_fragiles_upright)", "description": "All fragile items must remain upright."}, {"id": "target_not_dropped", "ltl": "G (!target_dropped)", "description": "The target must never fall to the floor."}, {"id": "target_upright", "ltl": "G (target_upright)", "description": "The target must remain upright."}], "combined_ltl": "G ((!any_fragile_dropped) & (all_fragiles_upright) & (!target_dropped) & (target_upright))", "propositions": {"any_fragile_dropped": {"check": "any", "over": ["teacup_*", "bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["teacup_*", "bowl_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}, "target_dropped": {"check": "any", "over": ["mug_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["mug_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [3.230334520339966, 9.062763214111328, 1.6158785820007324], "lookat": [3.4503157138824463, 9.059891700744629, 1.235878586769104], "orientation": [0.1822204440832138, -0.18461455404758453, -0.6873453855514526, 0.6784317493438721], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.4565179347991943, 9.769136428833008, 2.3168785572052], "lookat": [3.4503157138824463, 9.059891700744629, 1.2758785486221313], "orientation": [0.0012881143484264612, 0.2946051061153412, 0.9556090831756592, 0.004178250208497047], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [3.4565179347991943, 8.33769416809082, 2.3168785572052], "lookat": [3.4503157138824463, 9.059891700744629, 1.2758785486221313], "orientation": [0.2986391484737396, 0.0012823306024074554, 0.004097923636436462, 0.9543564319610596], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [4.222556114196777, 8.26205825805664, 2.3780245780944824], "lookat": [3.4503157138824463, 9.059891700744629, 1.235878586769104], "orientation": [0.3486836850643158, 0.14111146330833435, 0.3475899398326874, 0.8588879108428955], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "mug_66"}], "pipeline": "table", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "table", "target_name": "mug_66", "support_name": "bar_cowjqr_0", "marker_name": "goal_region__mug_66", "center_world": [3.44246096233068, 8.463273400028704, 1.178238359621339], "radius_m": 0.033922865055549596, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.113076216851832, "anchor_local_xy": [0.5040569820052574, 0.5901418984332099], "pack_bbox_robot_local_xy": [[0.3130289728185529, -0.43025771686196845], [0.6441815652449012, 0.42052757315546185]], "support_bounds_robot_local_xy": [[0.2899999756280449, -0.4677208757492459], [0.6899999756280448, 0.4677209680007528]], "clamped_to_support_bounds": false}} | |