| {"episode": 2, "scene_model": "house_single_floor", "activity_name": "auto_stack_same_on_house_single_floor_trial_3", "surface": "countertop_kelzer_0", "prompt": "Pick up the bottom hamper from 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": "same", "target_synset": "hamper.n.01", "stack_synset": "hamper.n.01", "target_category": "hamper", "target_model": "hlgjme", "stack_category": "hamper", "stack_model": "hlgjme", "stack_above": 3, "spawn_specs": [{"synset": "hamper.n.01", "category": "hamper", "count": 1, "role": "target", "model": "hlgjme"}, {"synset": "hamper.n.01", "category": "hamper", "count": 3, "role": "stack", "model": "hlgjme"}], "_room_instance": "kitchen_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_single_floor_trial_3", "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": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [6.0069403648376465, -2.6610432147979735, 1.387535810470581], "lookat": [6.883763313293457, -1.9736212491989136, 0.987535810470581], "orientation": [0.5173513889312744, -0.25179198384284973, -0.35792356729507446, 0.7354176044464111], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [7.830321598052978, -1.9728520512580872, 2.0875358104705812], "lookat": [6.883763313293457, -1.9736212491989136, 0.987535810470581], "orientation": [0.24587014317512512, 0.2460700422525406, 0.6632163524627686, 0.6626775860786438], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [4.183559131622315, -1.9728520512580872, 2.0875358104705812], "lookat": [6.883763313293457, -1.9736212491989136, 0.987535810470581], "orientation": [0.3945092558860779, -0.39462167024612427, -0.5868698358535767, 0.5867026448249817], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [7.680351257324219, -0.9647068977355957, 2.044461727142334], "lookat": [6.883763313293457, -1.9736212491989136, 1.2690807580947876], "orientation": [0.16126331686973572, 0.4644832909107208, 0.8226069211959839, 0.2855997681617737], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [], "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "target_hamper_ep1_1", "support_name": "countertop_kelzer_0", "marker_name": "goal_region__target_hamper_ep1_1", "center_world": [7.651974427647902, -1.9740427326462637, 0.9907880425453186], "radius_m": 0.12489230632781982, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.4163076877593994, "anchor_local_xy": [0.6421585425085494, 0.7736789685927314], "pack_bbox_robot_local_xy": [[0.42863129766984603, -0.13842711127935187], [0.8531594134044221, 0.14921743695363227]], "support_bounds_robot_local_xy": [[0.25232240334276074, -2.394791784782783], [1.029141578097451, 0.6520819707926229]], "clamped_to_support_bounds": false}} | |
| {"episode": 3, "scene_model": "grocery_store_half_stocked", "activity_name": "auto_stack_same_on_grocery_store_half_stocked_trial_4", "surface": "countertop_ncqmrq_0", "prompt": "Pick up the bottom hamper from 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": "same", "target_synset": "hamper.n.01", "stack_synset": "hamper.n.01", "target_category": "hamper", "target_model": "hlgjme", "stack_category": "hamper", "stack_model": "hlgjme", "stack_above": 3, "spawn_specs": [{"synset": "hamper.n.01", "category": "hamper", "count": 1, "role": "target", "model": "hlgjme"}, {"synset": "hamper.n.01", "category": "hamper", "count": 3, "role": "stack", "model": "hlgjme"}], "_room_instance": "grocery_store_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_grocery_store_half_stocked_trial_4", "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": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-1.7981777667999268, 0.20038104057312012, 1.4686071276664734], "lookat": [0.02985316514968872, 0.20306406915187836, 1.0686071276664735], "orientation": [0.4436769485473633, -0.44302624464035034, -0.5504487752914429, 0.551257312297821], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-0.6004275530576706, 1.898931074142456, 2.1686071276664736], "lookat": [0.02985316514968872, 0.20306406915187836, 1.0686071276664735], "orientation": [0.08674649894237518, -0.4824082553386688, -0.8578811287879944, 0.1542639136314392], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.6004275530576706, -1.4981689929962159, 2.1686071276664736], "lookat": [0.02985316514968872, 0.20306406915187836, 1.0686071276664735], "orientation": [0.48298126459121704, -0.08659268170595169, -0.1537685990333557, 0.8576631546020508], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.8733433485031128, -0.6244578957557678, 2.1423537731170654], "lookat": [0.02985316514968872, 0.20306406915187836, 1.350813388824463], "orientation": [0.4341726005077362, 0.18227535486221313, 0.34149208664894104, 0.8134205341339111], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": [], "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "target_hamper_ep1_1", "support_name": "countertop_ncqmrq_0", "marker_name": "goal_region__target_hamper_ep1_1", "center_world": [0.02815324096837113, -0.6326025954576023, 1.0718607604503632], "radius_m": 0.12496737241744994, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.4165579080581665, "anchor_local_xy": [0.5192107977242919, 0.8329055300325963], "pack_bbox_robot_local_xy": [[0.3735457316580692, -0.2176957662219556], [0.665197349077514, 0.20806866794534654]], "support_bounds_robot_local_xy": [[0.24992932178478292, -1.3987047815289118], [2.045570203510084, 1.3984854432172198]], "clamped_to_support_bounds": false}} | |