| {"episode": 1, "scene_model": "restaurant_brunch", "activity_name": "auto_stack_same_on_restaurant_brunch_trial_46", "surface": "bar_jvkwcc_0", "prompt": "Pick up the bottom shoe box 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": "shoe_box.n.01", "stack_synset": "shoe_box.n.01", "target_category": "shoe_box", "target_model": "gvwcka", "stack_category": "shoe_box", "stack_model": "gvwcka", "stack_above": 3, "spawn_specs": [{"synset": "shoe_box.n.01", "category": "shoe_box", "count": 1, "role": "target", "model": "gvwcka"}, {"synset": "shoe_box.n.01", "category": "shoe_box", "count": 3, "role": "stack", "model": "gvwcka"}], "_room_instance": "bar_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_restaurant_brunch_trial_46", "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": ["shoe_box_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["shoe_box_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["shoe_box_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["shoe_box_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [3.3421626567840574, 5.871057987213135, 1.7313179969787598], "lookat": [2.7668728828430176, 5.870426654815674, 1.3313179969787599], "orientation": [0.3273601531982422, 0.3277195990085602, 0.6270155906677246, 0.6263278722763062], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [2.7669122219085693, 4.556857776641846, 2.43131799697876], "lookat": [2.7668728828430176, 5.870426654815674, 1.3313179969787599], "orientation": [0.4230670630931854, 6.335054422379471e-06, 1.3568020222010091e-05, 0.9060983657836914], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [2.7669122219085693, 7.185258197784424, 2.43131799697876], "lookat": [2.7668728828430176, 5.870426654815674, 1.3313179969787599], "orientation": [6.3393395066668745e-06, 0.4232812821865082, 0.9059983491897583, 1.3568828762799967e-05], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [1.9241042137145996, 6.679872512817383, 2.430783748626709], "lookat": [2.7668728828430176, 5.870426654815674, 1.5127606391906738], "orientation": [0.1713588535785675, -0.40217867493629456, -0.8274083137512207, 0.35253918170928955], "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_shoe_box_ep1_1", "support_name": "bar_jvkwcc_0", "marker_name": "goal_region__target_shoe_box_ep1_1", "center_world": [2.7669888810568857, 6.3448107610318525, 1.2994394302368164], "radius_m": 0.08049530982971191, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.26831769943237305, "anchor_local_xy": [0.5253043095068103, 0.4738308029838475], "pack_bbox_robot_local_xy": [[0.390547421980353, -0.07180279664019998], [0.660665152019249, 0.07135425383528793]], "support_bounds_robot_local_xy": [[0.24995041152966851, -1.0141358348906124], [0.8005518824621144, 1.0142918867542132]], "clamped_to_support_bounds": false}} | |