| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_35", "surface": "nightstand_roxnbe_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": "quiche.n.01", "stack_synset": "box_of_tissues.n.01", "target_category": "quiche", "target_model": "borxmv", "stack_category": "box_of_tissues", "stack_model": "uglbjc", "stack_above": 3, "spawn_specs": [{"synset": "quiche.n.01", "category": "quiche", "count": 1, "role": "target", "model": "borxmv"}, {"synset": "box_of_tissues.n.01", "category": "box_of_tissues", "count": 3, "role": "stack", "model": "uglbjc"}], "_room_instance": "bedroom_1"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_35", "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": ["box_of_tissues_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["box_of_tissues_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["quiche_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["quiche_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [5.924746751785278, 4.309515762329101, 1.1999993324279785], "lookat": [5.924089431762695, 3.743288516998291, 0.7999993324279785], "orientation": [0.00026686565252020955, 0.4599013328552246, 0.8879697918891907, 0.0005152596859261394], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [5.237142753601074, 3.744265079498291, 1.8999993324279785], "lookat": [5.924089431762695, 3.743288516998291, 0.7999993324279785], "orientation": [0.19467565417289734, -0.1949526071548462, -0.6802237033843994, 0.6792573928833008], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [6.612350749969482, 3.744265079498291, 1.8999993324279785], "lookat": [5.924089431762695, 3.743288516998291, 0.7999993324279785], "orientation": [0.19496779143810272, 0.19524461030960083, 0.680138885974884, 0.6791746020317078], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [5.138359069824219, 2.935577392578125, 1.937440037727356], "lookat": [5.924089431762695, 3.743288516998291, 0.8064627647399902], "orientation": [0.3537707030773163, -0.1436862200498581, -0.34779003262519836, 0.8562959432601929], "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_quiche_ep1_1", "support_name": "nightstand_roxnbe_0", "marker_name": "goal_region__target_quiche_ep1_1", "center_world": [5.486075476984684, 3.744251105339897, 0.7135306596755981], "radius_m": 0.06578435897827148, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.21928119659423828, "anchor_local_xy": [0.5151599077358364, 0.43894768322593897], "pack_bbox_robot_local_xy": [[0.406163585271976, -0.10929427225401686], [0.6241562301996966, 0.11002588833458155]], "support_bounds_robot_local_xy": [[0.24993233366820566, -0.3873749976097106], [0.7805722878937469, 0.3879278330691629]], "clamped_to_support_bounds": false}} | |