| {"episode": 1, "scene_model": "house_single_floor", "activity_name": "auto_stack_flat_on_house_single_floor_trial_2", "surface": "countertop_kelzer_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": "router.n.01", "stack_synset": "pack_of_cigarettes.n.01", "target_category": "router", "target_model": "tokdic", "stack_category": "pack_of_cigarettes", "stack_model": "ipmejr", "stack_above": 3, "spawn_specs": [{"synset": "router.n.01", "category": "router", "count": 1, "role": "target", "model": "tokdic"}, {"synset": "pack_of_cigarettes.n.01", "category": "pack_of_cigarettes", "count": 3, "role": "stack", "model": "ipmejr"}], "_room_instance": "kitchen_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_single_floor_trial_2", "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": ["pack_of_cigarettes_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["pack_of_cigarettes_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["router_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["router_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [6.0069403648376465, -2.6610432147979735, 1.387535810470581], "lookat": [6.878443241119385, -1.9741294384002686, 0.987535810470581], "orientation": [0.5172038674354553, -0.2508898973464966, -0.3571298122406006, 0.7362151145935059], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [7.830321598052978, -1.9728520512580872, 2.0875358104705812], "lookat": [6.878443241119385, -1.9741294384002686, 0.987535810470581], "orientation": [0.24672316014766693, 0.24705450236797333, 0.6630498170852661, 0.6621605753898621], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [4.183559131622315, -1.9728520512580872, 2.0875358104705812], "lookat": [6.878443241119385, -1.9741294384002686, 0.987535810470581], "orientation": [0.3942696452140808, -0.3944565951824188, -0.58706134557724, 0.5867831110954285], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [7.646745681762695, -1.0160350799560547, 2.119535446166992], "lookat": [6.878443241119385, -1.9741294384002686, 0.9316326379776001], "orientation": [0.12942422926425934, 0.3682752549648285, 0.8685877323150635, 0.30525076389312744], "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_router_ep1_1", "support_name": "countertop_kelzer_0", "marker_name": "goal_region__target_router_ep1_1", "center_world": [7.378853513848783, -1.9743514205673973, 0.9716052711009979], "radius_m": 0.08291677236557006, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2763892412185669, "anchor_local_xy": [0.6423285916154682, 0.5009407490891828], "pack_bbox_robot_local_xy": [[0.5041294048002903, -0.07877804613694675], [0.7805277784306462, 0.08635688726133245]], "support_bounds_robot_local_xy": [[0.252629683953425, -2.394375177024391], [1.0291804856247604, 0.652430216095307]], "clamped_to_support_bounds": false}} | |