| {"episode": 2, "scene_model": "house_single_floor", "activity_name": "auto_stack_flat_on_house_single_floor_trial_7", "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": "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": "kitchen_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_single_floor_trial_7", "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": [6.0069403648376465, -2.6610432147979735, 1.387535810470581], "lookat": [6.878978729248047, -1.972543716430664, 0.987535810470581], "orientation": [0.5174553394317627, -0.25074899196624756, -0.35677647590637207, 0.7362577319145203], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [7.830321598052978, -1.9728520512580872, 2.0875358104705812], "lookat": [6.878978729248047, -1.972543716430664, 0.987535810470581], "orientation": [0.24683648347854614, 0.24675650894641876, 0.6625324487686157, 0.6627471446990967], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [4.183559131622315, -1.9728520512580872, 2.0875358104705812], "lookat": [6.878978729248047, -1.972543716430664, 0.987535810470581], "orientation": [0.39440611004829407, -0.3943609893321991, -0.5868749618530273, 0.5869420766830444], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [7.652604579925537, -1.0090627670288086, 2.1101884841918945], "lookat": [6.878978729248047, -1.972543716430664, 0.9859122037887573], "orientation": [0.13418731093406677, 0.3814420700073242, 0.8627716898918152, 0.3035140037536621], "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": "countertop_kelzer_0", "marker_name": "goal_region__target_half_french_toast_ep1_1", "center_world": [7.1879998964296625, -1.9695290951072213, 0.8944440186023712], "radius_m": 0.05385907888412476, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.17953026294708252, "anchor_local_xy": [0.6375783786948386, 0.30970508932531066], "pack_bbox_robot_local_xy": [[0.5478077571513329, -0.036205630631586716], [0.7273490002383441, 0.04040969490468687]], "support_bounds_robot_local_xy": [[0.25232240334276074, -2.394791784782783], [1.029141578097451, 0.6520819707926229]], "clamped_to_support_bounds": false}} | |
| {"episode": 3, "scene_model": "gates_bedroom", "activity_name": "auto_stack_flat_on_gates_bedroom_trial_10", "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": "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": "bedroom_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_gates_bedroom_trial_10", "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": [1.13486487865448, 4.099091649055481, 1.2000007629394531], "lookat": [1.6652992963790894, 4.100521564483643, 0.8000007629394531], "orientation": [0.3158249855041504, -0.31497466564178467, -0.63201504945755, 0.6337212324142456], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [1.6648638844490051, 4.574090766906738, 1.900000762939453], "lookat": [1.6652992963790894, 4.100521564483643, 0.8000007629394531], "orientation": [9.280932863475755e-05, -0.2018706202507019, -0.9794120788574219, 0.0004502813389990479], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [1.6648638844490051, 3.624092531204224, 1.900000762939453], "lookat": [1.6652992963790894, 4.100521564483643, 0.8000007629394531], "orientation": [0.20294339954853058, -9.274840704165399e-05, -0.0004475057648960501, 0.9791903495788574], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.8713376522064209, 3.4080936908721924, 1.9498777389526367], "lookat": [1.6652992963790894, 4.100521564483643, 0.798384428024292], "orientation": [0.3295920491218567, -0.1498834192752838, -0.3858734369277954, 0.8485315442085266], "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": "nightstand_uudzva_0", "marker_name": "goal_region__target_half_french_toast_ep1_1", "center_world": [1.3589547596312064, 4.1038648628522525, 0.7069152891635895], "radius_m": 0.05389580726623535, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.17965269088745117, "anchor_local_xy": [0.42970622364819966, 0.3061867339242386], "pack_bbox_robot_local_xy": [[0.3398715728893222, -0.0399946098248992], [0.5195408744070772, 0.03670769759306185]], "support_bounds_robot_local_xy": [[0.24995010847849614, -0.22976082130486894], [0.6000482647036642, 0.2303129116222822]], "clamped_to_support_bounds": false}} | |