| {"episode": 1, "scene_model": "grocery_store_cafe", "activity_name": "auto_clutter_on_grocery_store_cafe_trial_106", "surface": "bar_cowjqr_0", "prompt": "Pick up the teacup 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": "teacup.n.02", "fragile_picks": ["bowl.n.01", "goblet.n.01", "wineglass.n.01", "wineglass.n.01"], "clutter_picks": ["plate.n.04", "mug.n.04"], "spawn_specs": [{"synset": "teacup.n.02", "category": "teacup", "count": 1, "role": "target", "model": "zdvgol"}, {"synset": "goblet.n.01", "category": "chalice", "count": 1, "role": "fragile", "model": "sfkezf"}, {"synset": "wineglass.n.01", "category": "wineglass", "count": 2, "role": "fragile", "model": "yfzibn"}, {"synset": "plate.n.04", "category": "plate", "count": 1, "role": "clutter", "model": "qtfzeq"}, {"synset": "mug.n.04", "category": "mug", "count": 1, "role": "clutter", "model": "fapsrj"}]}, "ltl_safety": {"activity_name": "auto_clutter_on_grocery_store_cafe_trial_106", "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": ["goblet_*", "wineglass_*", "bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_fragiles_upright": {"check": "all", "over": ["goblet_*", "wineglass_*", "bowl_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}, "target_dropped": {"check": "any", "over": ["teacup_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["teacup_*"], "state": "upright", "params": {"max_tilt_deg": 45.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [3.230476140975952, 9.106254577636719, 1.6158785820007324], "lookat": [3.4498796463012695, 9.09006404876709, 1.235878586769104], "orientation": [0.1765432357788086, -0.19005098938941956, -0.7075855135917664, 0.6572943329811096], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [3.4565179347991943, 9.769136428833008, 2.3168785572052], "lookat": [3.4498796463012695, 9.09006404876709, 1.2758785486221313], "orientation": [0.0013930195709690452, 0.2850054204463959, 0.9585134387016296, 0.004684921354055405], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [3.4565179347991943, 8.33769416809082, 2.3168785572052], "lookat": [3.4498796463012695, 9.09006404876709, 1.2758785486221313], "orientation": [0.30783623456954956, 0.0013580193044617772, 0.004197229165583849, 0.9514291882514954], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [4.174598217010498, 8.246908187866211, 2.3778045177459717], "lookat": [3.4498796463012695, 9.09006404876709, 1.235878586769104], "orientation": [0.3530268371105194, 0.13086912035942078, 0.32201361656188965, 0.8686498999595642], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [{"predicate": "grasping", "subject": "robot", "reference": "teacup_67"}], "pipeline": "table", "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "table", "target_name": "teacup_67", "support_name": "bar_cowjqr_0", "marker_name": "goal_region__teacup_67", "center_world": [3.44377494163677, 8.565956370665699, 1.1665136673922778], "radius_m": 0.023148678968973612, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.07716226322991204, "anchor_local_xy": [0.5027430026991677, 0.48745892779621514], "pack_bbox_robot_local_xy": [[0.3098253709526042, -0.3647266255197743], [0.6273158809293373, 0.37171553295134707]], "support_bounds_robot_local_xy": [[0.2899999756280449, -0.4677208757492459], [0.6899999756280448, 0.4677209680007528]], "clamped_to_support_bounds": false}} | |