{"episode": 1, "scene_model": "Wainscott_0_int", "activity_name": "auto_stack_same_on_Wainscott_0_int_trial_59", "surface": "coffee_table_dnsjnv_0", "prompt": "Pick up the bottom bowl 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": 300, "selection": {"mode": "same", "target_synset": "bowl.n.01", "stack_synset": "bowl.n.01", "stack_above": 3, "sampling_whitelist": {"bowl.n.01": {"bowl": {"sqqahm": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "sqqahm"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "sqqahm"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Wainscott_0_int_trial_59", "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": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["bowl_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["bowl_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-4.099465370178223, -3.0248444080352783, 0.8793145418167114], "lookat": [-4.099462032318115, -2.804844379425049, 0.5291621088981628], "orientation": [0.27682042121887207, -2.099972334690392e-06, -7.28959503248916e-06, 0.9609216451644897], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-4.099455833435059, -3.139589548110962, 1.5803145170211792], "lookat": [-4.099462032318115, -2.804844379425049, 0.5393145680427551], "orientation": [0.15493257343769073, 1.4345374665936106e-06, 9.147304808720946e-06, 0.9879250526428223], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-4.099455833435059, -2.4703078269958496, 1.5803145170211792], "lookat": [-4.099462032318115, -2.804844379425049, 0.5393145680427551], "orientation": [1.4330111071103602e-06, 0.15484289824962616, 0.9879391193389893, 9.142994713329244e-06], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [-3.304551601409912, -2.1316933631896973, 1.651919960975647], "lookat": [-4.099462032318115, -2.804844379425049, 0.4993145763874054], "orientation": [0.1510785073041916, 0.3259086608886719, 0.846701979637146, 0.3924979269504547], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_66"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_65", "reference": "bowl_66"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_64", "reference": "bowl_66"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_63", "reference": "bowl_66"}}]}, "pipeline": "stack_same", "stack_mode": "same", "stack_height": "medium", "ontop_valid": true, "goal_region": {"mode": "held_intersection", "shape": "sphere", "family": "stack_same", "target_name": "bowl_66", "support_name": "coffee_table_dnsjnv_0", "marker_name": "goal_region__bowl_66", "center_world": [-3.836108677321921, -2.804993271064488, 0.4280950245449951], "radius_m": 0.03913617799493325, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.1304539266497775, "anchor_local_xy": [0.4113229505536234, 0.26334715611313764], "pack_bbox_robot_local_xy": [[0.3438180509727957, -0.06833844870256578], [0.4787278687391614, 0.06766626613847138]], "support_bounds_robot_local_xy": [[0.2900000819727427, -0.12745135357907572], [0.5325568071633386, 0.12745165331445812]], "clamped_to_support_bounds": false}}