| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_6", "surface": "desk_iotfzl_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": "half_french_toast.n.01", "stack_synset": "can_of_bay_leaves.n.01", "target_category": "half_french_toast", "target_model": "enjjdg", "stack_category": "can_of_bay_leaves", "stack_model": "ppwvjf", "stack_above": 3, "spawn_specs": [{"synset": "half_french_toast.n.01", "category": "half_french_toast", "count": 1, "role": "target", "model": "enjjdg"}, {"synset": "can_of_bay_leaves.n.01", "category": "can_of_bay_leaves", "count": 3, "role": "stack", "model": "ppwvjf"}], "_room_instance": "living_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_6", "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": ["can_of_bay_leaves_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["can_of_bay_leaves_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["half_french_toast_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["half_french_toast_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-0.7314531326293945, -2.950469732284546, 1.23512864112854], "lookat": [-1.3015377521514893, -2.9650607109069824, 0.83512864112854], "orientation": [0.32204970717430115, 0.3303978443145752, 0.6353190541267395, 0.6192665100097656], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-1.3018121719360352, -3.95570068359375, 1.93512864112854], "lookat": [-1.3015377521514893, -2.9650607109069824, 0.83512864112854], "orientation": [0.35841378569602966, -4.9642570957075804e-05, -0.00012930433149449527, 0.9335628151893616], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-1.3018121719360352, -1.9452387809753418, 1.93512864112854], "lookat": [-1.3015377521514893, -2.9650607109069824, 0.83512864112854], "orientation": [4.912892109132372e-05, -0.3651524782180786, -0.9309477210044861, 0.00012525303463917226], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-2.1183552742004395, -2.182405471801758, 1.9739537239074707], "lookat": [-1.3015377521514893, -2.9650607109069824, 0.8334699273109436], "orientation": [0.14947642385959625, -0.3502430021762848, -0.8504428267478943, 0.36295127868652344], "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_half_french_toast_ep1_1", "support_name": "desk_iotfzl_0", "marker_name": "goal_region__target_half_french_toast_ep1_1", "center_world": [-1.3000113608533557, -2.6027904652929776, 0.7420358061790466], "radius_m": 0.053878712654113765, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.1795957088470459, "anchor_local_xy": [0.5228593927363597, 0.36400706688802614], "pack_bbox_robot_local_xy": [[0.4845404965663753, -0.08498604004833675], [0.5611782889063441, 0.09461350361745728]], "support_bounds_robot_local_xy": [[0.25068164833847806, -0.6889167708710883], [0.7914703155780122, 0.7215721912666307]], "clamped_to_support_bounds": false}} | |