| {"episode": 1, "scene_model": "house_double_floor_upper", "activity_name": "auto_stack_same_on_house_double_floor_upper_trial_41", "surface": "nightstand_roxnbe_0", "prompt": "Pick up the bottom chopping board 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": "chopping_board.n.01", "stack_synset": "chopping_board.n.01", "target_category": "chopping_board", "target_model": "drjnag", "stack_category": "chopping_board", "stack_model": "drjnag", "stack_above": 3, "spawn_specs": [{"synset": "chopping_board.n.01", "category": "chopping_board", "count": 1, "role": "target", "model": "drjnag"}, {"synset": "chopping_board.n.01", "category": "chopping_board", "count": 3, "role": "stack", "model": "drjnag"}], "_room_instance": "bedroom_1"}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_double_floor_upper_trial_41", "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": ["chopping_board_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["chopping_board_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["chopping_board_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["chopping_board_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [5.924748659133911, 4.309513854980469, 1.1999993324279785], "lookat": [5.925045967102051, 3.7441866397857666, 0.7999993324279785], "orientation": [0.00012094478734070435, -0.4595683217048645, -0.8881423473358154, 0.00023373278963845223], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [5.237144660949707, 3.7442634105682373, 1.8999993324279785], "lookat": [5.925045967102051, 3.7441866397857666, 0.7999993324279785], "orientation": [0.19501526653766632, -0.19503703713417053, -0.6797178387641907, 0.6796419620513916], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [6.612352657318115, 3.7442634105682373, 1.8999993324279785], "lookat": [5.925045967102051, 3.7441866397857666, 0.7999993324279785], "orientation": [0.19488321244716644, 0.19490495324134827, 0.6797557473182678, 0.6796798706054688], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [5.138319969177246, 2.9372363090515137, 1.9379302263259888], "lookat": [5.925045967102051, 3.7441866397857666, 0.8030524253845215], "orientation": [0.352982759475708, -0.1435932219028473, -0.34838151931762695, 0.8563961386680603], "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_chopping_board_ep1_1", "support_name": "nightstand_roxnbe_0", "marker_name": "goal_region__target_chopping_board_ep1_1", "center_world": [5.37574045781696, 3.744364072086987, 0.7257625162601471], "radius_m": 0.0844674825668335, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2815582752227783, "anchor_local_xy": [0.5152533863572574, 0.5492831977069987], "pack_bbox_robot_local_xy": [[0.3734864886061399, -0.12748108153297702], [0.6570862788993084, 0.1269457848728313]], "support_bounds_robot_local_xy": [[0.24993090341251126, -0.3873764283769197], [0.7805706192194772, 0.3879264022593279]], "clamped_to_support_bounds": false}} | |