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5f9bad0 | 1 2 | {"episode": 1, "scene_model": "house_single_floor", "activity_name": "auto_stack_same_on_house_single_floor_trial_29", "surface": "breakfast_table_rhjoby_0", "prompt": "Pick up the bottom hamper 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": "hamper.n.01", "stack_synset": "hamper.n.01", "target_category": "hamper", "target_model": "sijioo", "stack_category": "hamper", "stack_model": "sijioo", "stack_above": 3, "spawn_specs": [{"synset": "hamper.n.01", "category": "hamper", "count": 1, "role": "target", "model": "sijioo"}, {"synset": "hamper.n.01", "category": "hamper", "count": 3, "role": "stack", "model": "sijioo"}], "_room_instance": "dining_room_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_house_single_floor_trial_29", "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": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["hamper_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["hamper_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [7.2952353954315186, 4.395422267913818, 1.3128660321235657], "lookat": [7.293078422546387, 3.4974656105041504, 0.9128660321235657], "orientation": [0.000654140836559236, 0.5445596575737, 0.8387212753295898, 0.0010074961464852095], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [5.530471515655518, 3.500158190727234, 2.012866032123566], "lookat": [7.293078422546387, 3.4974656105041504, 0.9128660321235657], "orientation": [0.3427268862724304, -0.3432508111000061, -0.6188236474990845, 0.6178790330886841], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [9.05999927520752, 3.500158190727234, 2.012866032123566], "lookat": [7.293078422546387, 3.4974656105041504, 0.9128660321235657], "orientation": [0.3430664837360382, 0.3435896635055542, 0.618634045124054, 0.6176920533180237], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [6.511855125427246, 2.2870748043060303, 1.93998122215271], "lookat": [7.293078422546387, 3.4974656105041504, 1.2218843698501587], "orientation": [0.5047905445098877, -0.1487567275762558, -0.24036361277103424, 0.8156490325927734], "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_hamper_ep1_1", "support_name": "breakfast_table_rhjoby_0", "marker_name": "goal_region__target_hamper_ep1_1", "center_world": [6.761733007433911, 3.500320494122221, 0.9668112695217133], "radius_m": 0.0791471242904663, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.2638237476348877, "anchor_local_xy": [0.8156677173243145, 0.5338174453355022], "pack_bbox_robot_local_xy": [[0.6811256786706088, -0.13316138545424083], [0.9481223934304016, 0.1380818238831707]], "support_bounds_robot_local_xy": [[0.22013782035958213, -1.464515111579007], [1.4109961523772032, 1.4651466267435753]], "clamped_to_support_bounds": false}}
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