| { |
| "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, |
| 6.236388237648242, |
| 2.5284443996377246 |
| ], |
| "quat_xyzw": [ |
| 0.11950933515490461, |
| -0.44601491077688155, |
| -0.8567866719650288, |
| 0.2295752968387786 |
| ], |
| "center": [ |
| 0.02025658735907255, |
| 4.36124118341184, |
| 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 |
| } |
