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5f9bad0 | 1 2 | {"episode": 2, "scene_model": "grocery_store_half_stocked", "activity_name": "auto_stack_flat_on_grocery_store_half_stocked_trial_18", "surface": "countertop_ncqmrq_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": "box_of_crackers.n.01", "stack_synset": "toy_dice.n.01", "target_category": "box_of_crackers", "target_model": "cmdigf", "stack_category": "toy_dice", "stack_model": "ievnsq", "stack_above": 3, "spawn_specs": [{"synset": "box_of_crackers.n.01", "category": "box_of_crackers", "count": 1, "role": "target", "model": "cmdigf"}, {"synset": "toy_dice.n.01", "category": "toy_dice", "count": 3, "role": "stack", "model": "ievnsq"}], "_room_instance": "grocery_store_0"}, "ltl_safety": {"activity_name": "auto_stack_flat_on_grocery_store_half_stocked_trial_18", "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": ["toy_dice_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["toy_dice_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["box_of_crackers_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["box_of_crackers_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-1.7981777667999268, 0.20038104057312012, 1.4686071276664734], "lookat": [0.028269784525036812, 0.20030000805854797, 1.0686071276664735], "orientation": [0.4432919919490814, -0.4433116614818573, -0.5509055852890015, 0.5508811473846436], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-0.6004275530576706, 1.898931074142456, 2.1686071276664736], "lookat": [0.028269784525036812, 0.20030000805854797, 1.0686071276664735], "orientation": [0.08645903319120407, -0.48268142342567444, -0.8578643202781677, 0.15366268157958984], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.6004275530576706, -1.4981689929962159, 2.1686071276664736], "lookat": [0.028269784525036812, 0.20030000805854797, 1.0686071276664735], "orientation": [0.4826640486717224, -0.08646367490291595, -0.15367765724658966, 0.8578709959983826], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.8548442125320435, -0.5998963117599487, 2.1845550537109375], "lookat": [0.028269784525036812, 0.20030000805854797, 1.1819093227386475], "orientation": [0.381294310092926, 0.1615709811449051, 0.3551338315010071, 0.8380867838859558], "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_box_of_crackers_ep1_1", "support_name": "countertop_ncqmrq_0", "marker_name": "goal_region__target_box_of_crackers_ep1_1", "center_world": [0.02938093628633831, -0.09210159209151247, 1.063720941543579], "radius_m": 0.043852794170379635, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.14617598056793213, "anchor_local_xy": [0.5179559611259037, 0.29240458899673194], "pack_bbox_robot_local_xy": [[0.48553402604265006, -0.07303861805233795], [0.5503778962091573, 0.07314061814483377]], "support_bounds_robot_local_xy": [[0.24992932178478292, -1.3987047815289118], [2.045570203510084, 1.3984854432172198]], "clamped_to_support_bounds": false}}
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