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5f9bad0 | 1 2 | {"episode": 2, "scene_model": "office_large", "activity_name": "auto_stack_same_on_office_large_trial_7", "surface": "desk_qpuflh_1", "prompt": "Pick up the bottom bottle of chili pepper 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": "bottle_of_chili_pepper.n.01", "stack_synset": "bottle_of_chili_pepper.n.01", "target_category": "bottle_of_chili_pepper", "target_model": "hjalqq", "stack_category": "bottle_of_chili_pepper", "stack_model": "hjalqq", "stack_above": 3, "spawn_specs": [{"synset": "bottle_of_chili_pepper.n.01", "category": "bottle_of_chili_pepper", "count": 1, "role": "target", "model": "hjalqq"}, {"synset": "bottle_of_chili_pepper.n.01", "category": "bottle_of_chili_pepper", "count": 3, "role": "stack", "model": "hjalqq"}], "_room_instance": "private_office_3"}, "ltl_safety": {"activity_name": "auto_stack_same_on_office_large_trial_7", "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": ["bottle_of_chili_pepper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bottle_of_chili_pepper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bottle_of_chili_pepper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bottle_of_chili_pepper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [13.379570484161377, 4.820348453521729, 1.2303730845451355], "lookat": [13.752734184265137, 7.591261863708496, 0.8303730845451355], "orientation": [0.6536577939987183, -0.04381689056754112, -0.05053170770406723, 0.7538290023803711], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [14.691202926635743, 6.528096437454224, 1.9303730845451355], "lookat": [13.752734184265137, 7.591261863708496, 0.8303730845451355], "orientation": [0.41149091720581055, 0.15563403069972992, 0.31768831610679626, 0.8399567604064941], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [12.067938041687011, 6.528096437454224, 1.9303730845451355], "lookat": [13.752734184265137, 7.591261863708496, 0.8303730845451355], "orientation": [0.44506850838661194, -0.2454206347465515, -0.4158564507961273, 0.7541525959968567], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [13.031818389892578, 8.389735221862793, 1.9749047756195068], "lookat": [13.752734184265137, 7.591261863708496, 0.8801721334457397], "orientation": [0.1359339952468872, -0.353402316570282, -0.8638427257537842, 0.3322717249393463], "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_bottle_of_chili_pepper_ep1_1", "support_name": "desk_qpuflh_1", "marker_name": "goal_region__target_bottle_of_chili_pepper_ep1_1", "center_world": [13.752288354843696, 7.713052701085595, 0.7663006782531738], "radius_m": 0.01815032958984375, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.0605010986328125, "anchor_local_xy": [0.4431600656062908, 0.12183833128903465], "pack_bbox_robot_local_xy": [[0.412506293754531, -0.03117760401307616], [0.47480183412875915, 0.031086683339815895]], "support_bounds_robot_local_xy": [[-0.94120333401577, -2.4709472435372297], [1.0822269602160972, 0.34466758799590497]], "clamped_to_support_bounds": false}}
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