| {"episode": 2, "scene_model": "gates_bedroom", "activity_name": "auto_stack_flat_on_gates_bedroom_trial_5", "surface": "nightstand_uudzva_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": "bedroom_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_gates_bedroom_trial_5", "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": [2.1948630094528196, 4.099092483520508, 1.2000005841255188], "lookat": [1.6653865575790405, 4.099386215209961, 0.8000005841255188], "orientation": [0.3152119815349579, 0.31503716111183167, 0.6328303217887878, 0.6331814527511597], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [1.6648640036582947, 3.624093246459961, 1.9000005841255188], "lookat": [1.6653865575790405, 4.099386215209961, 0.8000005841255188], "orientation": [0.20251759886741638, -0.00011131478822790086, -0.0005382652161642909, 0.9792784452438354], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [1.6648640036582947, 4.5740917205810545, 1.9000005841255188], "lookat": [1.6653865575790405, 4.099386215209961, 0.8000005841255188], "orientation": [0.00011133341467939317, -0.20229725539684296, -0.9793239831924438, 0.00053896673489362], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.8781360983848572, 3.4154648780822754, 1.9586538076400757], "lookat": [1.6653865575790405, 4.099386215209961, 0.7440972328186035], "orientation": [0.3160477578639984, -0.1440899521112442, -0.3890047073364258, 0.8532451391220093], "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": "nightstand_uudzva_0", "marker_name": "goal_region__target_router_ep1_1", "center_world": [1.171391974190007, 4.099035055847415, 0.7840739488601685], "radius_m": 0.08291680812835693, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.27638936042785645, "anchor_local_xy": [0.4249844962934328, 0.49336562434669917], "pack_bbox_robot_local_xy": [[0.2867829121267042, -0.08636201514010991], [0.5631860804601614, 0.07878158370491448]], "support_bounds_robot_local_xy": [[0.24998123745065104, -0.23012040471000283], [0.6000181750690518, 0.22990675270355604]], "clamped_to_support_bounds": false}} | |