{"episode": 1, "scene_model": "Beechwood_1_int", "activity_name": "auto_stack_same_on_Beechwood_1_int_trial_73", "surface": "breakfast_table_skczfi_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": {"szgdpc": null}}}, "spawn_specs": [{"synset": "bowl.n.01", "category": "bowl", "count": 1, "role": "target", "model": "szgdpc"}, {"synset": "bowl.n.01", "category": "bowl", "count": 3, "role": "stack", "model": "szgdpc"}]}, "ltl_safety": {"activity_name": "auto_stack_same_on_Beechwood_1_int_trial_73", "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": [0.7109041810035706, 7.964560031890869, 0.9864493608474731], "lookat": [0.7112385034561157, 7.744560241699219, 0.6647993326187134], "orientation": [0.00022449475363828242, -0.29546695947647095, -0.9553526043891907, 0.0007258735713548958], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [0.7119352221488953, 7.342329502105713, 1.687449336051941], "lookat": [0.7112385034561157, 7.744560241699219, 0.6464493870735168], "orientation": [0.18331646919250488, 0.00015876448014751077, 0.0008513910579495132, 0.9830535650253296], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [0.7119352221488953, 8.145212173461914, 1.687449336051941], "lookat": [0.7112385034561157, 7.744560241699219, 0.6464493870735168], "orientation": [0.00015882376465015113, 0.182667538523674, 0.9831743836402893, 0.0008548396872356534], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.21235224604606628, 7.120936870574951, 1.6527690887451172], "lookat": [0.7112385034561157, 7.744560241699219, 0.6247993111610413], "orientation": [0.30599555373191833, -0.10733535885810852, -0.31311488151550293, 0.8926392793655396], "sensor_name": "cam_left_shoulder", "canonical": false}], "goal_conditions": {"op": "and", "terms": [{"predicate": "grasping", "subject": "robot", "reference": "bowl_91"}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_90", "reference": "bowl_91"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_89", "reference": "bowl_91"}}, {"op": "not", "term": {"predicate": "ontop", "subject": "bowl_88", "reference": "bowl_91"}}]}, "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_91", "support_name": "breakfast_table_skczfi_0", "marker_name": "goal_region__bowl_91", "center_world": [0.3934091472826984, 7.743732806307673, 0.5347060408764072], "radius_m": 0.04708093551320151, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.15693645171067172, "anchor_local_xy": [0.4576295577114817, 0.3185260748661969], "pack_bbox_robot_local_xy": [[0.37877714674459195, -0.08017296954322525], [0.5404207113171884, 0.08312139730018933]], "support_bounds_robot_local_xy": [[0.29000003144389574, -0.2100000077068887], [0.6253352488010953, 0.20999999229311128]], "clamped_to_support_bounds": false}}