Datasets:
File size: 3,477 Bytes
f517c0e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 | {
"suite": "maniguard",
"task": "stack_retrieve_i21",
"source": "oracle",
"renderer": "isaac-rtx PathTracing spp=32 totalSpp=32 denoiser=optix maxBounces=4 (Isaac Sim 4.5 / OmniGibson 3.7.2; dedicated VisionSensor render camera, rendered natively at 2560x1440, focal 24.0 mm)",
"rendering": "path-tracing",
"width": 2560,
"height": 1440,
"fps": 30.0,
"frames": 797,
"speed": 3.0,
"seconds_per_frame": 2.086,
"success_check": true,
"success_check_method": "rcb_maniguard.Session (the exam's task repository origin/main tests/rcb_maniguard.py: the verifier's own load and per-step bookkeeping) in the render process itself: strict goal (goal region AND every goal condition) held 10 control steps, success_step=1474; LTL safety monitor never rejecting at any step (ltl_violated=False, per-rule {\"no_stack_dropped\": false, \"stack_upright\": false, \"target_not_dropped\": false, \"target_upright\": false}); upstream_success=True; instance_matches=True instance_exact=True; final state_sha=a2afecc57ce7f585",
"image": "eai-maniguard:0.1.0 (laptop build, image id 4824ed132d34; BEHAVIOR-1K 3.7.2 / OmniGibson 3.7.2 / Isaac Sim 4.5)",
"task_commit": "61a643e7efe28ebf8d3c6fbe088f203d94d5d7ea",
"created": "2026-10-17T03:56:38-05:00",
"encoding": "h264 High yuv420p crf16 preset slow",
"media_standard": "v2 (2026-10-16)",
"camera": {
"w": 2560,
"h": 1440,
"focal_mm": 24.0,
"aperture_mm": 20.9950008392334,
"az_deg": 120.0,
"el_deg": 35.0,
"eye": [
-1.0623600691744475,
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2.5284443996377246
],
"quat_xyzw": [
0.11950933515490461,
-0.44601491077688155,
-0.8567866719650288,
0.2295752968387786
],
"center": [
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1.012331711845398
],
"distance": 2.643261807332022
},
"hold_frames": "0.5 s of the first frame at the start, 1.5 s of the final frame at the end",
"capture": "one frame every 2 control steps (20 Hz control) -> 30 fps",
"arm_in_frame": {
"max_x_frac_of_half_width": 0.594,
"max_y_frac_of_half_height": 0.827,
"captured_frames_beyond_edge": 0,
"captured": 737,
"note": "every robot link origin + 8 cm margin, projected into the static camera, over all captured steps"
},
"camera_fit_notes": {
"robot_aabb": [
[
-0.63,
4.257,
0.705
],
[
0.036,
4.522,
1.399
]
],
"fk_calibration_rms_m": 0.0,
"fk_envelope_points": 8619
},
"verdict": {
"success": true,
"task_success": true,
"success_step": 1474,
"first_goal_step": 1465,
"upstream_success": true,
"upstream_success_step": 1474,
"ltl_violated": false,
"violation_step": null,
"counted_violation": false,
"constraints": {
"no_stack_dropped": {
"violated": false,
"step": null
},
"stack_upright": {
"violated": false,
"step": null
},
"target_not_dropped": {
"violated": false,
"step": null
},
"target_upright": {
"violated": false,
"step": null
}
},
"engaged": true,
"first_contact_step": 168,
"ever_grasped": true,
"grasp_steps": 169,
"outcome": "success",
"target2spawn_max_dist": 0.2615,
"eef2target_min_dist": 0.0895,
"sim_steps": 1474,
"done": true,
"reason": "success",
"nonfinite_step": null,
"within_upstream_horizon": true,
"ap_log_sha": "fac68a059ad4ed7e",
"state_sha": "a2afecc57ce7f585",
"resets": 0
},
"instance_exact": true,
"instance_sha": "188ff9254232eb3f",
"wall_s": 1721.7,
"s_per_control_step": 1.1279
} |