| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_38", "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": "pop_case.n.01", "stack_synset": "bottle_of_face_cream.n.01", "target_category": "pop_case", "target_model": "rzhvvk", "stack_category": "bottle_of_face_cream", "stack_model": "dztaed", "stack_above": 3, "spawn_specs": [{"synset": "pop_case.n.01", "category": "pop_case", "count": 1, "role": "target", "model": "rzhvvk"}, {"synset": "bottle_of_face_cream.n.01", "category": "bottle_of_face_cream", "count": 3, "role": "stack", "model": "dztaed"}], "_room_instance": "bedroom_1"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_house_double_floor_upper_trial_38", "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": ["bottle_of_face_cream_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bottle_of_face_cream_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["pop_case_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["pop_case_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [5.92474627494812, 4.309513854980469, 1.1999993920326233], "lookat": [5.924530982971191, 3.7441933155059814, 0.7999993920326233], "orientation": [8.758035983191803e-05, 0.4595658779144287, 0.8881436586380005, 0.00016925526142586023], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [5.237142276763916, 3.7442632913589478, 1.8999993920326232], "lookat": [5.924530982971191, 3.7441933155059814, 0.7999993920326233], "orientation": [0.19490240514278412, -0.19492222368717194, -0.6797471046447754, 0.6796780228614807], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [6.612350273132324, 3.7442632913589478, 1.8999993920326232], "lookat": [5.924530982971191, 3.7441933155059814, 0.7999993920326233], "orientation": [0.19499807059764862, 0.19501785933971405, 0.6797196269035339, 0.6796506643295288], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [5.13399600982666, 2.931706428527832, 1.9312083721160889], "lookat": [5.924530982971191, 3.7441933155059814, 0.8398157954216003], "orientation": [0.3626519441604614, -0.14731460809707642, -0.3463192880153656, 0.8525519967079163], "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_pop_case_ep1_1", "support_name": "nightstand_roxnbe_0", "marker_name": "goal_region__target_pop_case_ep1_1", "center_world": [5.3837805671649015, 3.744589473951325, 0.746134489774704], "radius_m": 0.08855395317077637, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2951798439025879, "anchor_local_xy": [0.5154807026919576, 0.5412421751974112], "pack_bbox_robot_local_xy": [[0.3678732447503874, -0.0977678589402935], [0.6630881606335278, 0.09847240934352935]], "support_bounds_robot_local_xy": [[0.24993281050535743, -0.3873749975244596], [0.7805725263123235, 0.3879278331117879]], "clamped_to_support_bounds": false}} | |