| {"episode": 1, "scene_model": "office_large", "activity_name": "auto_stack_same_on_office_large_trial_12", "surface": "desk_qpuflh_1", "prompt": "Pick up the bottom box of oatmeal 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": "box_of_oatmeal.n.01", "stack_synset": "box_of_oatmeal.n.01", "target_category": "box_of_oatmeal", "target_model": "zkggxm", "stack_category": "box_of_oatmeal", "stack_model": "zkggxm", "stack_above": 3, "spawn_specs": [{"synset": "box_of_oatmeal.n.01", "category": "box_of_oatmeal", "count": 1, "role": "target", "model": "zkggxm"}, {"synset": "box_of_oatmeal.n.01", "category": "box_of_oatmeal", "count": 3, "role": "stack", "model": "zkggxm"}], "_room_instance": "private_office_3"}, "ltl_safety": {"activity_name": "auto_stack_same_on_office_large_trial_12", "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_oatmeal_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["box_of_oatmeal_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["box_of_oatmeal_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["box_of_oatmeal_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [13.379570484161377, 4.820348453521729, 1.2303730845451355], "lookat": [13.752925872802734, 7.591218948364258, 0.8303730845451355], "orientation": [0.6536558866500854, -0.04383973404765129, -0.050558097660541534, 0.7538275122642517], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [14.691202926635743, 6.528096437454224, 1.9303730845451355], "lookat": [13.752925872802734, 7.591218948364258, 0.8303730845451355], "orientation": [0.41147443652153015, 0.155608668923378, 0.317658394575119, 0.8399809002876282], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [12.067938041687011, 6.528096437454224, 1.9303730845451355], "lookat": [13.752925872802734, 7.591218948364258, 0.8303730845451355], "orientation": [0.44507113099098206, -0.24544230103492737, -0.4158790707588196, 0.7541314959526062], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [12.990890502929688, 8.435089111328125, 1.8989861011505127], "lookat": [13.752925872802734, 7.591218948364258, 1.1836743354797363], "orientation": [0.17358894646167755, -0.4512398838996887, -0.816989004611969, 0.31429019570350647], "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_box_of_oatmeal_ep1_1", "support_name": "desk_qpuflh_1", "marker_name": "goal_region__target_box_of_oatmeal_ep1_1", "center_world": [13.752505513798994, 8.138658534038182, 0.8439679741859436], "radius_m": 0.0819620132446289, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2732067108154297, "anchor_local_xy": [0.44335221985772083, 0.5474441762653708], "pack_bbox_robot_local_xy": [[0.3795105474520473, -0.13750135330630606], [0.5084794659027839, 0.13763411004222623]], "support_bounds_robot_local_xy": [[-0.94120333401577, -2.4709472435372297], [1.0822269602160972, 0.34466758799590497]], "clamped_to_support_bounds": false}} | |