runs: 112 runs under their task dirs' new names (old files kept)

blog/roboarc-ikea-stegesund-i00-privileged--ywisczk/meta.json

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+{
+ "slug": "roboarc-ikea-stegesund-i00-privileged--ywisczk",
+ "status": "rendered",
+ "task": "roboarc-ikea-stegesund-i00-privileged",
+ "bench": "ikea",
+ "mode": "privileged",
+ "run": "codex-gpt6_astra-high",
+ "outcome": "failed",
+ "card": "No agent solved it RoboARC · IKEA Stegesund GPT-6 Astra · privileged · failed It pressed the halves together, slid in the shelf and drove the first bolt, but its hex key turned only 120° per insertion, so one bolt took 40 minutes; at the three-hour limit the second bolt was still 3.6 mm short.",
+ "source_trial": "codex/gpt6_astra/high/codex-gpt6_astra-high-ikea-stegesund-i00-privileged/ikea-stegesund-i00-privileged__ywiScZK",
+ "what": "re-rendered: kinematic playback of this trial's own replay (its recorded actions replayed from the task's frozen instance with the task's own tooling, physics unchanged) in Blender Cycles",
+ "renderer": "Blender 4.5.3 LTS Cycles (OptiX), path traced (64 spp adaptive 0.01, OIDN denoise), kinematic replay of the MuJoCo body poses of the grader-identical replay; studio (V2 IKEA masters' LOOK); 2560x1440, 30 fps, no text or overlays",
+ "rendering": "path-tracing",
+ "width": 2560,
+ "height": 1440,
+ "fps": 30,
+ "frames_rendered": null,
+ "render_seconds": null,
+ "seconds_per_frame": null,
+ "time_range": {
+  "from_step": 0,
+  "to_step": 293851,
+  "sim_t_from_s": 0.0,
+  "sim_t_to_s": 734.62,
+  "why": "the whole handed-in run as a time-lapse: it tells the card in order (halves pressed, shelf slid in, first bolt driven by ~26 x 120 deg key turns, frame flipped, second bolt driven) and ends on the unfinished second bolt (3.69 mm short). Faster through the set-up, 40x through the 120-deg ratchet, 22x on the last bolt. Last frame = replay row 293848 (the final 3 rows, 7.5 ms, are below one frame)."
+ },
+ "speed": {
+  "profile": [
+   {
+    "sim_t_from_s": 0.0,
+    "sim_t_to_s": 268.0,
+    "speed": 70,
+    "what": "halves pressed together (lifted A-frame), shelf slid in from the foot end, hex key fetched, bolt_2 inserted to 45 mm"
+   },
+   {
+    "sim_t_from_s": 268.0,
+    "sim_t_to_s": 555.3,
+    "speed": 40,
+    "what": "bolt_2 driven with the hex key: 26 insertions of ~120 deg each (median -119.7 deg, ~0.75 mm per insertion, one every ~11 s); seated and welded at 555.35 s"
+   },
+   {
+    "sim_t_from_s": 555.3,
+    "sim_t_to_s": 629.0,
+    "speed": 60,
+    "what": "frame flipped over to reach the B side, bolt_4 picked and pushed in to 45 mm"
+   },
+   {
+    "sim_t_from_s": 629.0,
+    "sim_t_to_s": 734.62,
+    "speed": 22,
+    "what": "bolt_4 driven (larger turns late, up to ~940 deg in the last spell); rows end with bolt_4 3.69 mm short of its seat (not welded), key released"
+   }
+  ],
+  "mean": 43.11,
+  "motion_s": 17.04,
+  "fps": 30
+ },
+ "holds": {
+  "start_s": 0.5,
+  "end_s": 1.5,
+  "note": "first/last frame held, no extra simulation"
+ },
+ "replay_check": {
+  "reproduced": true,
+  "how": "fresh-process replays in docker image efe-private:ikea-mujoco-0.3.0 (id sha256:ed950d07..., = tests/runtime_binding.json image) with the task's own rcb_ikea.py from efe-private:ikea-mujoco-files-0.1.0@sha256:bf7494f2... (the digest the task Dockerfiles pin): (1) tools/ikea_replay_export.py = rcb_ikea replay_cli's loop (Session('stegesund'), load_trajectory, Session.step per row, final_check) reading body poses every 8 rows (read only); (2) an independent plain 'python rcb_ikea.py replay --task stegesund --traj trajectory.npz' (the grader's command) in a second container. Both compared with verifier/verdict.json evidence and verifier/replay.json.",
+  "checks": {
+   "initial_state_sha": true,
+   "end_state_sha": true,
+   "settled_sha": true,
+   "success": true,
+   "end_report_identical": true,
+   "end_terminal_identical": true,
+   "settled_report_identical": true,
+   "rows": true
+  },
+  "recorded": {
+   "success": false,
+   "initial_state_sha": "917b2bc63ab1ec624593f08b7aff161dc4f0dea407d53bbeee89396b49fd701c",
+   "end_state_sha": "9333c5e54cb4778e2c0469bc8abd02949958bad4507ebe94a7869d829a1395a6",
+   "settled_sha": "be548162eedc814e928dcf9c9b3497cc044393de29d967848a589a4e5e00f61f",
+   "replay_json_end_state_sha": "9333c5e54cb4778e2c0469bc8abd02949958bad4507ebe94a7869d829a1395a6",
+   "rows": 293851,
+   "sim_time_s": 734.627500013134,
+   "bolt_2": {
+    "axial_mm": -0.121,
+    "lateral_mm": 0.144,
+    "tilt_deg": 0.063,
+    "ok": true
+   },
+   "bolt_4": {
+    "axial_mm": 3.694,
+    "lateral_mm": 0.488,
+    "tilt_deg": 0.825,
+    "ok": false
+   },
+   "fasteners": {
+    "bolt_1": {
+     "armed": false,
+     "welded": false
+    },
+    "bolt_2": {
+     "armed": true,
+     "welded": true
+    },
+    "bolt_3": {
+     "armed": false,
+     "welded": false
+    },
+    "bolt_4": {
+     "armed": true,
+     "welded": false
+    }
+   },
+   "max_part_depth_mm": 0.902
+  },
+  "replayed": {
+   "success": false,
+   "initial_state_sha": "917b2bc63ab1ec624593f08b7aff161dc4f0dea407d53bbeee89396b49fd701c",
+   "end_state_sha": "9333c5e54cb4778e2c0469bc8abd02949958bad4507ebe94a7869d829a1395a6",
+   "settled_sha": "be548162eedc814e928dcf9c9b3497cc044393de29d967848a589a4e5e00f61f",
+   "plain_end_state_sha": "9333c5e54cb4778e2c0469bc8abd02949958bad4507ebe94a7869d829a1395a6",
+   "plain_settled_sha": "be548162eedc814e928dcf9c9b3497cc044393de29d967848a589a4e5e00f61f",
+   "rows": 293851,
+   "bolt_2": {
+    "axial_mm": -0.121,
+    "lateral_mm": 0.144,
+    "tilt_deg": 0.063,
+    "ok": true
+   },
+   "bolt_4": {
+    "axial_mm": 3.694,
+    "lateral_mm": 0.488,
+    "tilt_deg": 0.825,
+    "ok": false
+   },
+   "fasteners": {
+    "bolt_1": {
+     "armed": false,
+     "welded": false
+    },
+    "bolt_2": {
+     "armed": true,
+     "welded": true
+    },
+    "bolt_3": {
+     "armed": false,
+     "welded": false
+    },
+    "bolt_4": {
+     "armed": true,
+     "welded": false
+    }
+   },
+   "max_part_depth_mm": 0.902,
+   "weld_events": [
+    {
+     "time": 555.3481250092207,
+     "fastener": "bolt_2",
+     "clamped": [
+      "half_A"
+     ]
+    }
+   ],
+   "arm_events": [
+    {
+     "time": 288.3981250033938,
+     "fastener": "bolt_2"
+    },
+    {
+     "time": 682.4643750119953,
+     "fastener": "bolt_4"
+    }
+   ]
+  }
+ },
+ "camera": null,
+ "visual_changes": [],
+ "export": {
+  "control_hz": 400.0,
+  "every": "variable: rows per frame = speed * 400 / 30 (nearest 8-row sample)",
+  "frames": 512
+ },
+ "render": {
+  "renderer": "Blender 4.5.3 LTS Cycles (OptiX), path traced (64 spp adaptive 0.01, OIDN denoise), kinematic replay of the MuJoCo body poses of the grader-identical replay",
+  "scene": "scene_wide",
+  "look": "studio (V2 IKEA masters' LOOK)",
+  "report": {
+   "engine": "CYCLES",
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+   "adaptive": 0.01,
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+   "opt": {
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+    "samples": "64",
+    "adaptive": "0.01",
+    "frames": "0:512",
+    "frame": "",
+    "look": "studio",
+    "lens": "1.4",
+    "fstop": "0",
+    "nodenoise": "0",
+    "tag": "f",
+    "engine": "CYCLES",
+    "contrast": "AgX - Medium High Contrast",
+    "exposure": "-3.0",
+    "key": "4.0",
+    "motionblur": "0",
+    "floor": "0.56",
+    "world": "0.10",
+    "top": "100",
+    "rim": "300",
+    "el": "",
+    "goal": "1",
+    "minspp": "64",
+    "depth": "8",
+    "resume": "1",
+    "fovfit": "v",
+    "device": "OPTIX",
+    "rig": "rig"
+   },
+   "fov": 27.635092147357263
+  }
+ },
+ "encode": "master: libx264 preset slow CRF 16, yuv420p, bt709, 30 fps, +faststart, no audio",
+ "story_note": "verdict.json gives the second bolt (bolt_4) 3.694 mm short, which rounds to 3.7 mm (the card says 3.6 mm); the 40 minutes on one bolt is the agent working time, the first bolt takes 287 s of simulation (26 insertions of about 120 deg each).",
+ "files": {
+  "video.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
+   "width": 2560,
+   "height": 1440,
+   "fps": "30/1",
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+   "bytes": 12277977,
+   "audio": false,
+   "faststart": true,
+   "sha256": "7becc6857da8a01ed764b6070cad8f94a4a82f6c483c1061b3fbd326b8615511",
+   "note": "stream copy of the master (remuxed with +faststart)"
+  },
+  "web.mp4": {
+   "codec": "h264",
+   "profile": "High",
+   "pix_fmt": "yuv420p",
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+   "fps": "30/1",
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+   "size": "1280x720",
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+   "sha256": "6f8741f9fc58b45d7bf5b656aff1643ff2dfb05e2790c2895268d39cb8a87aa4"
+  }
+ }
+}

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