| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_16", "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": "box_of_crackers.n.01", "stack_synset": "toy_dice.n.01", "target_category": "box_of_crackers", "target_model": "cmdigf", "stack_category": "toy_dice", "stack_model": "ievnsq", "stack_above": 3, "spawn_specs": [{"synset": "box_of_crackers.n.01", "category": "box_of_crackers", "count": 1, "role": "target", "model": "cmdigf"}, {"synset": "toy_dice.n.01", "category": "toy_dice", "count": 3, "role": "stack", "model": "ievnsq"}], "_room_instance": "living_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_16", "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": ["toy_dice_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["toy_dice_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["box_of_crackers_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["box_of_crackers_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-0.7314531326293945, -2.950469732284546, 1.23512864112854], "lookat": [-1.30208158493042, -2.9667937755584717, 0.83512864112854], "orientation": [0.32170242071151733, 0.3310369849205017, 0.6361699104309082, 0.6182312369346619], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-1.3018121719360352, -3.95570068359375, 1.93512864112854], "lookat": [-1.30208158493042, -2.9667937755584717, 0.83512864112854], "orientation": [0.3580073416233063, 4.87668949062936e-05, 0.00012718890502583236, 0.933718740940094], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-1.3018121719360352, -1.9452387809753418, 1.93512864112854], "lookat": [-1.30208158493042, -2.9667937755584717, 0.83512864112854], "orientation": [4.822324262931943e-05, 0.36554646492004395, 0.9307931065559387, 0.00012279112706892192], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-2.1307127475738525, -2.1667909622192383, 1.9516183137893677], "lookat": [-1.30208158493042, -2.9667937755584717, 0.9484059810638428], "orientation": [0.16188381612300873, -0.38130924105644226, -0.8377876877784729, 0.35568052530288696], "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_box_of_crackers_ep1_1", "support_name": "desk_iotfzl_0", "marker_name": "goal_region__target_box_of_crackers_ep1_1", "center_world": [-1.3009736845581692, -2.6744835846244643, 0.8302442133426666], "radius_m": 0.04385418891906738, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.1461806297302246, "anchor_local_xy": [0.5219006570540542, 0.2923138994849668], "pack_bbox_robot_local_xy": [[0.4894785096004588, -0.07314091963855329], [0.5543228045076495, 0.07304295488962989]], "support_bounds_robot_local_xy": [[0.25068164833847806, -0.6889167708710883], [0.7914703155780122, 0.7215721912666307]], "clamped_to_support_bounds": false}} | |