{"episode": 2, "scene_model": "grocery_store_half_stocked", "activity_name": "auto_stack_same_on_grocery_store_half_stocked_trial_19", "surface": "countertop_ncqmrq_0", "prompt": "Pick up the bottom shoe box 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": "shoe_box.n.01", "stack_synset": "shoe_box.n.01", "target_category": "shoe_box", "target_model": "pitwey", "stack_category": "shoe_box", "stack_model": "pitwey", "stack_above": 3, "spawn_specs": [{"synset": "shoe_box.n.01", "category": "shoe_box", "count": 1, "role": "target", "model": "pitwey"}, {"synset": "shoe_box.n.01", "category": "shoe_box", "count": 3, "role": "stack", "model": "pitwey"}], "_room_instance": "grocery_store_0"}, "ltl_safety": {"activity_name": "auto_stack_same_on_grocery_store_half_stocked_trial_19", "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": ["shoe_box_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "all_stack_upright": {"check": "all", "over": ["shoe_box_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}, "target_dropped": {"check": "any", "over": ["shoe_box_*"], "state": "dropped", "params": {"floor_z": 0.0, "z_margin": 0.05}}, "target_upright": {"check": "all", "over": ["shoe_box_*"], "state": "upright", "params": {"max_tilt_deg": 30.0}}}}, "cameras": [{"label": "opposite_side_front", "eye": [-1.7981777667999268, 0.20038104057312012, 1.4686071276664734], "lookat": [0.02833804301917553, 0.20043250918388367, 1.0686071276664735], "orientation": [0.4433102309703827, -0.44329771399497986, -0.5508838891983032, 0.5508994460105896], "sensor_name": "cam_opposite", "canonical": true}, {"label": "left_overview", "eye": [-0.6004275530576706, 1.898931074142456, 2.1686071276664736], "lookat": [0.02833804301917553, 0.20043250918388367, 1.0686071276664735], "orientation": [0.0864718109369278, -0.4826681911945343, -0.8578656315803528, 0.15368983149528503], "sensor_name": "cam_left", "canonical": false}, {"label": "right_overview", "eye": [-0.6004275530576706, -1.4981689929962159, 2.1686071276664736], "lookat": [0.02833804301917553, 0.20043250918388367, 1.0686071276664735], "orientation": [0.48267924785614014, -0.08646886050701141, -0.15368032455444336, 0.8578614592552185], "sensor_name": "cam_right", "canonical": false}, {"label": "left_shoulder", "eye": [0.8507883548736572, -0.596268892288208, 2.190570592880249], "lookat": [0.02833804301917553, 0.20043250918388367, 1.1533617973327637], "orientation": [0.37327274680137634, 0.15810316801071167, 0.356533944606781, 0.8417567610740662], "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_shoe_box_ep1_1", "support_name": "countertop_ncqmrq_0", "marker_name": "goal_region__target_shoe_box_ep1_1", "center_world": [0.028177035358618152, -0.3825657172193656, 1.0131959915161133], "radius_m": 0.0918647401034832, "color_rgba": [0.1, 0.8, 0.2, 1.0], "target_width_m": 0.306215800344944, "anchor_local_xy": [0.5191744477210924, 0.5828686533044363], "pack_bbox_robot_local_xy": [[0.3646579729342305, -0.12426887124647808], [0.6725763728631458, 0.12354495278702032]], "support_bounds_robot_local_xy": [[0.24992932178478292, -1.3987047815289118], [2.045570203510084, 1.3984854432172198]], "clamped_to_support_bounds": false}}