| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_11", "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": "bag_of_rice.n.01", "stack_synset": "bag_of_ice_cream.n.01", "target_category": "bag_of_rice", "target_model": "eddcjz", "stack_category": "bag_of_ice_cream", "stack_model": "himfgn", "stack_above": 3, "spawn_specs": [{"synset": "bag_of_rice.n.01", "category": "bag_of_rice", "count": 1, "role": "target", "model": "eddcjz"}, {"synset": "bag_of_ice_cream.n.01", "category": "bag_of_ice_cream", "count": 3, "role": "stack", "model": "himfgn"}], "_room_instance": "living_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_11", "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": ["bag_of_ice_cream_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bag_of_ice_cream_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bag_of_rice_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bag_of_rice_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-0.7314531326293945, -2.950469732284546, 1.23512864112854], "lookat": [-1.307433009147644, -2.9674530029296875, 0.83512864112854], "orientation": [0.32291319966316223, 0.33257490396499634, 0.6357125639915466, 0.617244303226471], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-1.3018121719360352, -3.95570068359375, 1.93512864112854], "lookat": [-1.307433009147644, -2.9674530029296875, 0.83512864112854], "orientation": [0.3578548729419708, 0.001017673988826573, 0.0026554798241704702, 0.9337729215621948], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-1.3018121719360352, -1.9452387809753418, 1.93512864112854], "lookat": [-1.307433009147644, -2.9674530029296875, 0.83512864112854], "orientation": [0.0010054097510874271, 0.36569836735725403, 0.9307293891906738, 0.0025588420685380697], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-2.114932060241699, -2.178830862045288, 1.9722716808319092], "lookat": [-1.307433009147644, -2.9674530029296875, 0.8471890091896057], "orientation": [0.14882290363311768, -0.35336580872535706, -0.8511640429496765, 0.3584747016429901], "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_bag_of_rice_ep1_1", "support_name": "desk_iotfzl_0", "marker_name": "goal_region__target_bag_of_rice_ep1_1", "center_world": [-1.3105156418730126, -2.3486821697467506, 0.7838286459445953], "radius_m": 0.09571101665496826, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.31903672218322754, "anchor_local_xy": [0.5123423943870197, 0.6181148364088904], "pack_bbox_robot_local_xy": [[0.35281651258510816, -0.16100858151093628], [0.6718682761889311, 0.13955975313404914]], "support_bounds_robot_local_xy": [[0.25068164833847806, -0.6889167708710883], [0.7914703155780122, 0.7215721912666307]], "clamped_to_support_bounds": false}} | |