{
 "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
}