| {"episode": 1, "scene_model": "office_large", "activity_name": "auto_stack_flat_on_office_large_trial_28", "surface": "pedestal_table_dmghrm_1", "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": "folder.n.01", "stack_synset": "saucer.n.01", "target_category": "folder", "target_model": "lktggf", "stack_category": "saucer", "stack_model": "vghfkh", "stack_above": 3, "spawn_specs": [{"synset": "folder.n.01", "category": "folder", "count": 1, "role": "target", "model": "lktggf"}, {"synset": "saucer.n.01", "category": "saucer", "count": 3, "role": "stack", "model": "vghfkh"}], "_room_instance": "meeting_room_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_office_large_trial_28", "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": ["saucer_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["saucer_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["folder_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["folder_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-15.143036365509033, 2.0946207523345945, 1.2078065276145935], "lookat": [-15.138860702514648, 1.2222492694854736, 0.8078065276145935], "orientation": [0.0012922087917104363, -0.5400025248527527, -0.8416600227355957, 0.002014065394178033], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-15.992994117736817, 1.24466273188591, 1.9078065276145935], "lookat": [-15.138860702514648, 1.2222492694854736, 0.8078065276145935], "orientation": [0.2262410819530487, -0.23225578665733337, -0.6776233315467834, 0.6600749492645264], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-14.29307861328125, 1.24466273188591, 1.9078065276145935], "lookat": [-15.138860702514648, 1.2222492694854736, 0.8078065276145935], "orientation": [0.2246425747871399, 0.23067452013492584, 0.6782586574554443, 0.6605227589607239], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-15.903166770935059, 0.17760443687438965, 1.9379793405532837], "lookat": [-15.138860702514648, 1.2222492694854736, 0.7572187185287476], "orientation": [0.3838025629520416, -0.12541179358959198, -0.2841551601886749, 0.8696110248565674], "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_folder_ep1_1", "support_name": "pedestal_table_dmghrm_1", "marker_name": "goal_region__target_folder_ep1_1", "center_world": [-15.56023783759735, 1.2290162117013632, 0.7308175265789032], "radius_m": 0.0634317398071289, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2114391326904297, "anchor_local_xy": [0.7217283964276572, 0.42049142557397834], "pack_bbox_robot_local_xy": [[0.6395883317022417, -0.1081272983500366], [0.8038684611530723, 0.10333272653833381]], "support_bounds_robot_local_xy": [[0.18714025677681717, -0.54673674132063], [1.2871960779226324, 0.5533186626457474]], "clamped_to_support_bounds": false}} | |