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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "grocery_store_cafe", "activity_name": "auto_stack_same_on_grocery_store_cafe_trial_21", "surface": "pedestal_table_xrrhik_0", "prompt": "Pick up the bottom half waffle 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": "half_waffle.n.01", "stack_synset": "half_waffle.n.01", "target_category": "half_waffle", "target_model": "vufawe", "stack_category": "half_waffle", "stack_model": "vufawe", "stack_above": 3, "spawn_specs": [{"synset": "half_waffle.n.01", "category": "half_waffle", "count": 1, "role": "target", "model": "vufawe"}, {"synset": "half_waffle.n.01", "category": "half_waffle", "count": 3, "role": "stack", "model": "vufawe"}], "_room_instance": "dining_room_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_grocery_store_cafe_trial_21", "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": ["half_waffle_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["half_waffle_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["half_waffle_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["half_waffle_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [1.024522590637207, 4.389765024185181, 1.1854458451271057], "lookat": [0.33389919996261597, 4.388718605041504, 0.7854458451271057], "orientation": [0.35286450386047363, 0.3533994257450104, 0.613079309463501, 0.6121512651443481], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.3349497616291046, 3.7001468658447267, 1.8854458451271057], "lookat": [0.33389919996261597, 4.388718605041504, 0.7854458451271057], "orientation": [0.27601927518844604, 0.00021056276455055922, 0.0007332197274081409, 0.9611517786979675], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [0.3349497616291046, 5.079383182525635, 1.8854458451271057], "lookat": [0.33389919996261597, 4.388718605041504, 0.7854458451271057], "orientation": [0.00021041504805907607, 0.27667561173439026, 0.9609630703926086, 0.0007308236672542989], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-0.6072528958320618, 5.1640706062316895, 1.9119669198989868], "lookat": [0.33389919996261597, 4.388718605041504, 0.7725447416305542], "orientation": [0.16994965076446533, -0.360204815864563, -0.8295636773109436, 0.39139968156814575], "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_half_waffle_ep1_1", "support_name": "pedestal_table_xrrhik_0", "marker_name": "goal_region__target_half_waffle_ep1_1", "center_world": [0.32286208656927773, 4.957174696174907, 0.707668662071228], "radius_m": 0.08500657081604003, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2833552360534668, "anchor_local_xy": [0.6134227824017556, 0.5682828223844277], "pack_bbox_robot_local_xy": [[0.5391770833952402, -0.14221605423556205], [0.6858291928122072, 0.1432499683042275]], "support_bounds_robot_local_xy": [[0.23594506972358104, -0.38876074338192634], [1.0151231814076014, 0.390508052988497]], "clamped_to_support_bounds": false}}
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