{ "cases": [ { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-complete", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 0.72825, "baseline": 0.364084, "camera_observation": 12.822833, "fusion": 0.010625, "input_json_io": 1.23375, "png_io_decode": 4.695416, "processed_window": 19.854958 }, { "actuator_observation": 0.757417, "baseline": 0.371917, "camera_observation": 13.225708, "fusion": 0.011542, "input_json_io": 1.073917, "png_io_decode": 5.051583, "processed_window": 20.492084 }, { "actuator_observation": 0.807, "baseline": 0.395125, "camera_observation": 14.395416, "fusion": 0.011709, "input_json_io": 1.545083, "png_io_decode": 5.035667, "processed_window": 22.19 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-01-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/ba9720094d9f093b3e976bab83d76228fe5974c6042d7b82a6815a914c2482c4.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-occluded", "layout_id": "fresh-01", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-01-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-01-occluded.json", "timing_ms": [ { "actuator_observation": 0.782875, "baseline": 0.382833, "camera_observation": 10.599583, "fusion": 0.005, "input_json_io": 1.107417, "png_io_decode": 4.639667, "processed_window": 17.517375 }, { "actuator_observation": 0.783084, "baseline": 0.396, "camera_observation": 10.321916, "fusion": 0.003583, "input_json_io": 1.119708, "png_io_decode": 4.346959, "processed_window": 16.97125 }, { "actuator_observation": 0.795792, "baseline": 0.399, "camera_observation": 10.630458, "fusion": 0.00325, "input_json_io": 1.161958, "png_io_decode": 4.525125, "processed_window": 17.515583 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6793268360275678e-09, "upper": 2.6793268360275678e-09 }, "observed": 2.6793268360275678e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153183800642e-10, "upper": 9.189153183800642e-10 }, "observed": 9.189153183800642e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.294299999069415, "upper": 0.294299999069415 }, "observed": 0.294299999069415, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999996937877127, "upper": 0.16999996937877127 }, "observed": 0.16999996937877127, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 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Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/a1614c72747d59e153cf2a5379bacaf9716b2240a1395408d93cb76fb428e5cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_position", "layout_id": "fresh-01", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546557188912078e-10, "complete": false, "linear_speed_m_s": 8.405858605124918e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996937695405, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.19118242994476e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-01-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-01-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.7865, "baseline": 0.38925, "camera_observation": 14.239709, "fusion": 0.001833, "input_json_io": 1.138292, "png_io_decode": 5.392166, "processed_window": 21.94775 }, { "actuator_observation": 0.923125, "baseline": 0.411375, "camera_observation": 14.487083, "fusion": 0.002042, "input_json_io": 1.120125, "png_io_decode": 5.402125, "processed_window": 22.345875 }, { "actuator_observation": 0.832042, "baseline": 0.4085, "camera_observation": 15.83325, "fusion": 0.001833, "input_json_io": 1.214542, "png_io_decode": 5.429708, "processed_window": 23.719875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6795102441033864e-09, "upper": 2.6795102441033864e-09 }, "observed": 2.6795102441033864e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153094847117e-10, "upper": 9.189153094847117e-10 }, "observed": 9.189153094847117e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418421960358e-07, "upper": 1.0857418421960358e-07 }, "observed": 1.0857418421960358e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037169, "upper": 1.5707963246037169 }, "observed": 1.5707963246037169, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/64c0ff8b73370df8fb8659c6e1dc96a2e9074d9957dddebd7f0396c894e0a2f9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_orientation", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547189983637771e-10, "complete": false, "linear_speed_m_s": 8.406512498573426e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418421960358e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-01-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-01-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.829666, "baseline": 0.41625, "camera_observation": 15.643417, "fusion": 0.001834, "input_json_io": 1.214708, "png_io_decode": 6.061292, "processed_window": 24.167167 }, { "actuator_observation": 0.869417, "baseline": 0.434959, "camera_observation": 16.102083, "fusion": 0.002125, "input_json_io": 1.205834, "png_io_decode": 5.492791, "processed_window": 24.107209 }, { "actuator_observation": 0.871334, "baseline": 0.434084, "camera_observation": 16.100416, "fusion": 0.002166, "input_json_io": 1.330583, "png_io_decode": 6.393958, "processed_window": 25.132541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-01-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/c3b4436320d6ce2db274e6ed821e78c8218cd2eedb5f8d765dbfc9e98103bd95.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-missing_target", "layout_id": "fresh-01", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-01-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-01-missing_target.json", "timing_ms": [ { "actuator_observation": 0.866416, "baseline": 0.249708, "camera_observation": 11.432209, "fusion": 0.002167, "input_json_io": 1.1445, "png_io_decode": 5.508083, "processed_window": 19.203083 }, { "actuator_observation": 0.859084, "baseline": 0.250833, "camera_observation": 11.939083, "fusion": 0.001958, "input_json_io": 1.136083, "png_io_decode": 5.440167, "processed_window": 19.627208 }, { "actuator_observation": 0.925791, "baseline": 0.266417, "camera_observation": 11.513917, "fusion": 0.002209, "input_json_io": 1.1175, "png_io_decode": 5.695875, "processed_window": 19.521709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-01-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/daf3c96be603ee3ca355e9d971b7b7826ce273eb600d8eaf44b2775ce18a1a2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-wrong_object", "layout_id": "fresh-01", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-01-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-01-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.937333, "baseline": 0.276084, "camera_observation": 12.047333, "fusion": 0.002125, "input_json_io": 1.187917, "png_io_decode": 6.553833, "processed_window": 21.004625 }, { "actuator_observation": 0.976875, "baseline": 0.265791, "camera_observation": 12.101584, "fusion": 0.002458, "input_json_io": 1.184292, "png_io_decode": 5.882417, "processed_window": 20.413417 }, { "actuator_observation": 0.9765, "baseline": 0.271833, "camera_observation": 12.375834, "fusion": 0.002416, "input_json_io": 1.320125, "png_io_decode": 6.472292, "processed_window": 21.419 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04000736113635696, "jaw_gap_min_m": 0.03800473771042344, "maximum_abs_drive_effort_n": 0.7873531556763159, "maximum_abs_jaw_rate_m_s": 0.002013540744516026, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004546756630403177, "upper": 0.004546756630403177 }, "observed": 0.004546756630403177, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00011832852355133988, "upper": 0.00011832852355133988 }, "observed": 0.00011832852355133988, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7853817676548804, "upper": 0.7853817676548804 }, "observed": 0.7853817676548804, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2535662105421056, "upper": 0.2535662105421056 }, "observed": 0.2535662105421056, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0005576065784396636, "upper": 0.0005576065784396636 }, "observed": 0.0005576065784396636, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0029298371073324253, "upper": 0.0029298371073324253 }, "observed": 0.0029298371073324253, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188093625494507 ], "displacement_interval_m": [ 0.0, 0.08376187250988092 ], "displacement_m": 1.1872509880913762e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187933499414777 ], "displacement_interval_m": [ 0.0, 0.08375866998828632 ], "displacement_m": 8.669988286314674e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188248570012635 ], "displacement_interval_m": [ 0.0, 0.08376497140024347 ], "displacement_m": 1.4971400243461205e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.189882800935907 ], "displacement_interval_m": [ 0.0, 0.08379765601870891 ], "displacement_m": 4.765601870890399e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188402579593492 ], "displacement_interval_m": [ 0.0, 0.08376805159186063 ], "displacement_m": 1.8051591860615473e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187747787129664 ], "displacement_interval_m": [ 0.0, 0.08375495574258406 ], "displacement_m": 4.955742584052546e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187756822468201 ], "displacement_interval_m": [ 0.0, 0.0837551364493548 ], "displacement_m": 5.136449354785716e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188352728975667 ], "displacement_interval_m": [ 0.0, 0.0837670545795041 ], "displacement_m": 1.7054579504104567e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.188666586884458 ], "displacement_interval_m": [ 0.0, 0.08377333173767992 ], "displacement_m": 2.333173767992332e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41910451197156307 ], "net_displacement_interval_m": [ 0.0, 0.08382090239430338 ], "net_displacement_m": 7.090239430338445e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431579840719677, 0.17773858590445096 ], "candidate_pixels": 4688, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809486988054605, -0.08620867107508107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4688, "yaw_axis_rad": -0.08260306044686239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043165829192202715, 0.17773625859129277 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40811247334754797, -0.08621908315564608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08277219330627972, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431595372604624, 0.17773284320291963 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809782029418035, -0.08622215412491581 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08264501634420007, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043168264721225744, 0.17773324120393874 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40805198784907276, -0.08623521104241741 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08268252512331387, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043182504769311764, 0.17773278376398127 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080381500426258, -0.08624680306904946 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.08283459734880161, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043177809400162484, 0.17773475371163172 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.408038664463867, -0.0862517320400725 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08282528379848397, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043101659815567586, 0.1777370087993081 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080365138592751, -0.08625639658848189 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08284289936297196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310711386511282, 0.1777376679798301 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080527564512689, -0.08626159628918321 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08271043328461758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308910084253932, 0.1777379029489932 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080714285714286, -0.08627558635394032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08292728133098137, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-unreleased", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-01-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-01-unreleased.json", "timing_ms": [ { "actuator_observation": 0.883542, "baseline": 0.497291, "camera_observation": 15.83075, "fusion": 0.002083, "input_json_io": 1.291542, "png_io_decode": 7.23625, "processed_window": 25.741458 }, { "actuator_observation": 0.880125, "baseline": 0.427667, "camera_observation": 15.682333, "fusion": 0.002125, "input_json_io": 1.264666, "png_io_decode": 6.684125, "processed_window": 24.941041 }, { "actuator_observation": 0.90075, "baseline": 0.422625, "camera_observation": 15.262125, "fusion": 0.002166, "input_json_io": 1.218708, "png_io_decode": 6.565417, "processed_window": 24.371791 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16528667483325984, "upper": 0.16528667483325984 }, "observed": 0.16528667483325984, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6505152933668144, "upper": 0.6505152933668144 }, "observed": 0.6505152933668144, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.058531189900804394, "upper": 0.058531189900804394 }, "observed": 0.058531189900804394, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603349153180327, "upper": 0.12603349153180327 }, "observed": 0.12603349153180327, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.730344741567085e-06, "upper": 8.730344741567085e-06 }, "observed": 8.730344741567085e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.521680853255212 ], "displacement_interval_m": [ 0.0, 0.09043361706510432 ], "displacement_m": 0.006683617065104315, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.525782964654 ], "displacement_interval_m": [ 0.0, 0.09051565929308007 ], "displacement_m": 0.0067656592930800735, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.541449269525862 ], "displacement_interval_m": [ 0.0, 0.09082898539051733 ], "displacement_m": 0.007078985390517328, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.581608981062919 ], "displacement_interval_m": [ 0.0, 0.09163217962125846 ], "displacement_m": 0.00788217962125845, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.649059300024403 ], "displacement_interval_m": [ 0.0, 0.09298118600048814 ], "displacement_m": 0.009231186000488136, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.791055086764231 ], "displacement_interval_m": [ 0.0, 0.09582110173528471 ], "displacement_m": 0.012071101735284714, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.812500000000016 ], "displacement_interval_m": [ 0.0, 0.0962500000000004 ], "displacement_m": 0.0125000000000004, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8064664404358926 ], "displacement_interval_m": [ 0.0, 0.09612932880871794 ], "displacement_m": 0.012379328808717928, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.803558343902339 ], "displacement_interval_m": [ 0.0, 0.09607116687804687 ], "displacement_m": 0.012321166878046859, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.802163652994279 ], "displacement_interval_m": [ 0.0, 0.09604327305988566 ], "displacement_m": 0.012293273059885658, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.07718219185323276, 0.9146821918532321 ], "net_displacement_interval_m": [ 0.015436438370646566, 0.18293643837064658 ], "net_displacement_m": 0.09918643837064657, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339121333924391, 0.16091509735636517 ], "candidate_pixels": 4144, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4305396356177602, -0.08743514720076864 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4144, "yaw_axis_rad": -0.08315364835695238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324710955397388, 0.17318729906478858 ], "candidate_pixels": 4476, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4372980898123323, -0.08712298927613518 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4478, "yaw_axis_rad": -0.07837175296744636, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04307819045642588, 0.185066355680871 ], "candidate_pixels": 4788, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4443687343358397, -0.0867794486215496 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4790, "yaw_axis_rad": -0.07498359535990406, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04298303445721053, 0.19600813827220204 ], "candidate_pixels": 5042, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45224588456961523, -0.08649791749305447 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5044, "yaw_axis_rad": -0.0738723962959762, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04290219624391968, 0.20620464054843168 ], "candidate_pixels": 5217, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46147318861414605, -0.08623023289246376 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5219, "yaw_axis_rad": -0.07470686788931324, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900015632596385, 0.20796943409853613 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4735442116816185, -0.08618665298720815 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07500523222500632, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900015632596385, 0.2079694340985362 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4860442116816189, -0.08618665298720815 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07500523222500632, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042915223140952925, 0.20778360175793995 ], "candidate_pixels": 5238, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49842353951890067, -0.08618174875906519 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07509696410428823, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042916322409650084, 0.20787056097532403 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5107447062190004, -0.08617965471193885 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07485911185220573, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04292780183058056, 0.2077429385396829 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5230379792103759, -0.08617835685675825 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07476967414103441, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-sustained_motion", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-01-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-01-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.852458, "baseline": 0.463708, "camera_observation": 15.329417, "fusion": 0.001584, "input_json_io": 1.250875, "png_io_decode": 5.692583, "processed_window": 23.590625 }, { "actuator_observation": 0.861792, "baseline": 0.4385, "camera_observation": 16.146625, "fusion": 0.0015, "input_json_io": 1.261875, "png_io_decode": 5.475625, "processed_window": 24.185917 }, { "actuator_observation": 0.947583, "baseline": 0.424625, "camera_observation": 15.269709, "fusion": 0.001708, "input_json_io": 1.212083, "png_io_decode": 6.007833, "processed_window": 23.863541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-instant_alias", "layout_id": "fresh-01", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-01-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-01-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.866375, "baseline": 0.437292, "camera_observation": 15.012417, "fusion": 0.001916, "input_json_io": 1.221709, "png_io_decode": 5.259041, "processed_window": 22.79875 }, { "actuator_observation": 0.862375, "baseline": 0.427459, "camera_observation": 14.458708, "fusion": 0.001667, "input_json_io": 1.40225, "png_io_decode": 5.877916, "processed_window": 23.030375 }, { "actuator_observation": 0.859834, "baseline": 0.437709, "camera_observation": 14.811291, "fusion": 0.001833, "input_json_io": 1.424375, "png_io_decode": 5.900583, "processed_window": 23.435625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6794349635141688e-09, "upper": 2.6794349635141688e-09 }, "observed": 2.6794349635141688e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152802167255e-10, "upper": 9.189152802167255e-10 }, "observed": 9.189152802167255e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694152, "upper": 0.2942999990694152 }, "observed": 0.2942999990694152, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418409595156e-07, "upper": 1.0857418409595156e-07 }, "observed": 1.0857418409595156e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.141592651398611, "upper": 3.141592651398611 }, "observed": 3.141592651398611, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/e3e5fa50635d4d197bfcdcbe37581aaadb69e512e562dbab3e1cb85d3ba6e8de.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-yaw_flip180", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547064937635123e-10, "complete": false, "linear_speed_m_s": 8.406390667545483e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418409595156e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-01-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-01-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.86975, "baseline": 0.428083, "camera_observation": 14.708583, "fusion": 0.001709, "input_json_io": 1.249292, "png_io_decode": 5.7415, "processed_window": 22.998917 }, { "actuator_observation": 0.865542, "baseline": 0.43425, "camera_observation": 15.347833, "fusion": 0.001833, "input_json_io": 1.210875, "png_io_decode": 5.068084, "processed_window": 22.928417 }, { "actuator_observation": 3.3195, "baseline": 0.430208, "camera_observation": 15.077708, "fusion": 0.002042, "input_json_io": 1.232792, "png_io_decode": 5.187792, "processed_window": 25.250042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-lookalike_wrongobject", "layout_id": "fresh-01", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-01-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-01-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.866917, "baseline": 0.2535, "camera_observation": 14.834833, "fusion": 0.0015, "input_json_io": 1.126208, "png_io_decode": 5.335875, "processed_window": 22.418833 }, { "actuator_observation": 0.875, "baseline": 0.248208, "camera_observation": 14.583875, "fusion": 0.001625, "input_json_io": 1.094458, "png_io_decode": 5.7535, "processed_window": 22.556666 }, { "actuator_observation": 0.865208, "baseline": 0.245333, "camera_observation": 14.500417, "fusion": 0.001708, "input_json_io": 1.117292, "png_io_decode": 5.293167, "processed_window": 22.023125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679559069366482e-09, "upper": 2.679559069366482e-09 }, "observed": 2.679559069366482e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189150469281996e-10, "upper": 9.189150469281996e-10 }, "observed": 9.189150469281996e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418446875351e-07, "upper": 1.0857418446875351e-07 }, "observed": 1.0857418446875351e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/076734bb32a80fc8834167e231b98cf5f0a25a4adfded42bb97c59ecdd528443.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "native-fresh-01-elevated_support", "layout_id": "fresh-01", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547640449188617e-10, "complete": false, "linear_speed_m_s": 8.406883389657325e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418446875351e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191181361355099e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-01-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-01-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.917416, "baseline": 0.446209, "camera_observation": 14.85025, "fusion": 0.002084, "input_json_io": 1.242, "png_io_decode": 5.7675, "processed_window": 23.225459 }, { "actuator_observation": 0.869458, "baseline": 0.459416, "camera_observation": 14.623584, "fusion": 0.001792, "input_json_io": 1.236417, "png_io_decode": 5.479375, "processed_window": 22.670042 }, { "actuator_observation": 0.864041, "baseline": 0.421167, "camera_observation": 14.29575, "fusion": 0.001542, "input_json_io": 1.2375, "png_io_decode": 5.590792, "processed_window": 22.410792 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-complete", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.8715, "baseline": 0.420083, "camera_observation": 16.4395, "fusion": 0.011625, "input_json_io": 1.251834, "png_io_decode": 5.689958, "processed_window": 24.6845 }, { "actuator_observation": 0.872875, "baseline": 0.43325, "camera_observation": 15.944042, "fusion": 0.010541, "input_json_io": 1.308, "png_io_decode": 5.531042, "processed_window": 24.09975 }, { "actuator_observation": 0.922833, "baseline": 0.429042, "camera_observation": 16.289208, "fusion": 0.010084, "input_json_io": 1.251709, "png_io_decode": 5.551083, "processed_window": 24.453959 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-02-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/306f7327d679efbd444be10c31071a16231ec507b5475f4d6daf3f8e869bff11.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-occluded", "layout_id": "fresh-02", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-02-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-02-occluded.json", "timing_ms": [ { "actuator_observation": 0.85825, "baseline": 0.442125, "camera_observation": 11.568334, "fusion": 0.003041, "input_json_io": 1.259209, "png_io_decode": 4.538166, "processed_window": 18.669125 }, { "actuator_observation": 0.858042, "baseline": 0.420708, "camera_observation": 11.181167, "fusion": 0.002916, "input_json_io": 1.206625, "png_io_decode": 4.457333, "processed_window": 18.126791 }, { "actuator_observation": 0.867, "baseline": 0.43075, "camera_observation": 11.126666, "fusion": 0.003375, "input_json_io": 1.203167, "png_io_decode": 4.10575, "processed_window": 17.736708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788348104834975e-09, "upper": 2.6788348104834975e-09 }, "observed": 2.6788348104834975e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153088570748e-10, "upper": 9.189153088570748e-10 }, "observed": 9.189153088570748e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.294299999069415, "upper": 0.294299999069415 }, "observed": 0.294299999069415, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999997549524762, "upper": 0.16999997549524762 }, "observed": 0.16999997549524762, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/d872c795adf78d2062380efdd091dab84c5a8e904dd87d4065bb5dd9511a0a2a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_position", "layout_id": "fresh-02", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.544805675398738e-10, "complete": false, "linear_speed_m_s": 8.404209020016126e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997549377416, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839773181008e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-02-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-02-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.911208, "baseline": 0.42325, "camera_observation": 16.176917, "fusion": 0.002, "input_json_io": 1.204, "png_io_decode": 5.820583, "processed_window": 24.537958 }, { "actuator_observation": 0.8725, "baseline": 0.4245, "camera_observation": 15.389334, "fusion": 0.001583, "input_json_io": 1.242875, "png_io_decode": 5.816375, "processed_window": 23.747167 }, { "actuator_observation": 0.894042, "baseline": 0.473458, "camera_observation": 16.145, "fusion": 0.00175, "input_json_io": 1.204125, "png_io_decode": 5.479959, "processed_window": 24.198334 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679261858875273e-09, "upper": 2.679261858875273e-09 }, "observed": 2.679261858875273e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915309157293e-10, "upper": 9.18915309157293e-10 }, "observed": 9.18915309157293e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418369222989e-07, "upper": 1.0857418369222989e-07 }, "observed": 1.0857418369222989e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037158, "upper": 1.5707963246037158 }, "observed": 1.5707963246037158, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/b139dbf02cd58ff3a16008313c8d2cff2d40657c5337a27ae8ee2729373b2c23.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_orientation", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546321688490891e-10, "complete": false, "linear_speed_m_s": 8.405701843537689e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418369222989e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-02-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-02-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.876625, "baseline": 0.441583, "camera_observation": 15.845209, "fusion": 0.001833, "input_json_io": 1.302125, "png_io_decode": 5.557, "processed_window": 24.024375 }, { "actuator_observation": 0.885375, "baseline": 0.441625, "camera_observation": 16.335583, "fusion": 0.00175, "input_json_io": 1.296875, "png_io_decode": 5.890709, "processed_window": 24.851917 }, { "actuator_observation": 0.927583, "baseline": 0.431125, "camera_observation": 15.980292, "fusion": 0.001792, "input_json_io": 1.2325, "png_io_decode": 5.268375, "processed_window": 23.841667 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-02-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/07b0f7ff8f9ac476c14a0475abaecd3b8d632826679a65201ea152436ad571e8.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-missing_target", "layout_id": "fresh-02", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-02-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-02-missing_target.json", "timing_ms": [ { "actuator_observation": 0.87925, "baseline": 0.251291, "camera_observation": 11.767709, "fusion": 0.002125, "input_json_io": 1.109, "png_io_decode": 5.18375, "processed_window": 19.193125 }, { "actuator_observation": 0.866666, "baseline": 0.246708, "camera_observation": 11.266042, "fusion": 0.001959, "input_json_io": 1.125917, "png_io_decode": 5.319542, "processed_window": 18.826834 }, { "actuator_observation": 0.872125, "baseline": 0.24925, "camera_observation": 11.220167, "fusion": 0.002083, "input_json_io": 1.11775, "png_io_decode": 5.304583, "processed_window": 18.765958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-02-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/729bb6ade187bbea921807e252ea3fd379477f27cfb775c3a78129d8ab2672e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-wrong_object", "layout_id": "fresh-02", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-02-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-02-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.898458, "baseline": 0.245042, "camera_observation": 11.419042, "fusion": 0.001917, "input_json_io": 1.110667, "png_io_decode": 5.582166, "processed_window": 19.257292 }, { "actuator_observation": 0.869708, "baseline": 0.248583, "camera_observation": 11.254792, "fusion": 0.00225, "input_json_io": 1.081459, "png_io_decode": 5.502458, "processed_window": 18.95925 }, { "actuator_observation": 0.898083, "baseline": 0.247166, "camera_observation": 11.516834, "fusion": 0.002208, "input_json_io": 1.209458, "png_io_decode": 5.056334, "processed_window": 18.930083 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039711784098577396, "jaw_gap_min_m": 0.03770721007726306, "maximum_abs_drive_effort_n": 0.7807802176455142, "maximum_abs_jaw_rate_m_s": 0.0020244916639255623, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.003539393377739773, "upper": 0.003539393377739773 }, "observed": 0.003539393377739773, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.422530572473446e-05, "upper": 9.422530572473446e-05 }, "observed": 9.422530572473446e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7604671301646633, "upper": 0.7604671301646633 }, "observed": 0.7604671301646633, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3096867698078151, "upper": 0.3096867698078151 }, "observed": 0.3096867698078151, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.007373320394352831, "upper": 0.007373320394352831 }, "observed": 0.007373320394352831, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.10410811131541729, "upper": 0.10410811131541729 }, "observed": 0.10410811131541729, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188307017245155 ], "displacement_interval_m": [ 0.0, 0.08376614034489387 ], "displacement_m": 1.614034489386709e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187584859047286 ], "displacement_interval_m": [ 0.0, 0.0837516971809365 ], "displacement_m": 1.697180936503171e-06, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188600076704269 ], "displacement_interval_m": [ 0.0, 0.08377200153407614 ], "displacement_m": 2.2001534076133245e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188253467262114 ], "displacement_interval_m": [ 0.0, 0.08376506934523305 ], "displacement_m": 1.5069345233039614e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188078684492464 ], "displacement_interval_m": [ 0.0, 0.08376157368984005 ], "displacement_m": 1.1573689840047144e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.189291396281289 ], "displacement_interval_m": [ 0.0, 0.08378582792561656 ], "displacement_m": 3.582792561656149e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188452625389159 ], "displacement_interval_m": [ 0.0, 0.08376905250777396 ], "displacement_m": 1.9052507773953703e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188146567060816 ], "displacement_interval_m": [ 0.0, 0.08376293134120709 ], "displacement_m": 1.2931341207087548e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41908897853952953 ], "net_displacement_interval_m": [ 0.0, 0.08381779570789667 ], "net_displacement_m": 6.779570789666713e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323270886675806, 0.17834118496184437 ], "candidate_pixels": 4718, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382789317507446, -0.1086024268757975 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4718, "yaw_axis_rad": 0.09002722511688832, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215055432808416, 0.1783428043739237 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384197413061946, -0.1086103159457194 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09014373507194495, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321492583986512, 0.17834233851835252 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384091391009364, -0.10861164122137672 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4716, "yaw_axis_rad": 0.0901991526673438, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043213553968868224, 0.178906172269662 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138232722069115, -0.10862478800085067 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09037120887492955, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043214793154247665, 0.17891339329357703 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138091072943176, -0.10862993002544793 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09025583406736049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215519745911424, 0.17892179463855457 ], "candidate_pixels": 4715, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382012195121987, -0.10863348356309914 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4715, "yaw_axis_rad": 0.09035525734985494, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321419367574915, 0.17890500704231166 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.413855867076532, -0.10863591795633079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09015115716612021, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215211715484876, 0.17834336607858986 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41387457591179, -0.10863231552163113 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09007682857171107, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-unreleased", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-02-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-02-unreleased.json", "timing_ms": [ { "actuator_observation": 0.874, "baseline": 0.430875, "camera_observation": 15.103458, "fusion": 0.001709, "input_json_io": 1.503209, "png_io_decode": 9.010333, "processed_window": 26.923584 }, { "actuator_observation": 0.887709, "baseline": 0.428041, "camera_observation": 15.622125, "fusion": 0.002041, "input_json_io": 1.219334, "png_io_decode": 6.102625, "processed_window": 24.261875 }, { "actuator_observation": 0.909, "baseline": 0.438667, "camera_observation": 14.875125, "fusion": 0.00175, "input_json_io": 1.245333, "png_io_decode": 6.028625, "processed_window": 23.4985 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16549543464376368, "upper": 0.16549543464376368 }, "observed": 0.16549543464376368, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6502384235651086, "upper": 0.6502384235651086 }, "observed": 0.6502384235651086, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05849697459578287, "upper": 0.05849697459578287 }, "observed": 0.05849697459578287, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603136462373032, "upper": 0.12603136462373032 }, "observed": 0.12603136462373032, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.449369010662955e-06, "upper": 8.449369010662955e-06 }, "observed": 8.449369010662955e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.558903874407176 ], "displacement_interval_m": [ 0.0, 0.0911780774881436 ], "displacement_m": 0.0074280774881436045, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.57414951956005 ], "displacement_interval_m": [ 0.0, 0.09148299039120109 ], "displacement_m": 0.007732990391201074, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.587885412631115 ], "displacement_interval_m": [ 0.0, 0.09175770825262239 ], "displacement_m": 0.008007708252622387, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.635325765510399 ], "displacement_interval_m": [ 0.0, 0.09270651531020806 ], "displacement_m": 0.008956515310208057, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.652420139899173 ], "displacement_interval_m": [ 0.0, 0.09304840279798356 ], "displacement_m": 0.009298402797983546, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.707801658625415 ], "displacement_interval_m": [ 0.0, 0.0941560331725084 ], "displacement_m": 0.010406033172508386, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.812500000000002 ], "displacement_interval_m": [ 0.0, 0.09625000000000013 ], "displacement_m": 0.012500000000000122, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.809596324710991 ], "displacement_interval_m": [ 0.0, 0.09619192649421991 ], "displacement_m": 0.012441926494219907, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.803892292378086 ], "displacement_interval_m": [ 0.0, 0.0960778458475618 ], "displacement_m": 0.012327845847561792, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.7979428615876225 ], "displacement_interval_m": [ 0.0, 0.09595885723175253 ], "displacement_m": 0.012208857231752525, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.08773607851592985, 0.9252360785159292 ], "net_displacement_interval_m": [ 0.017547215703185987, 0.185047215703186 ], "net_displacement_m": 0.10129721570318599, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04417803494405209, 0.16989735971325065 ], "candidate_pixels": 4213, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43367894018514114, -0.11656020056966364 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4317, "yaw_axis_rad": 0.016193535640228518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04330749957931265, 0.1812524652798392 ], "candidate_pixels": 4509, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4414081559104015, -0.11631861277445027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4512, "yaw_axis_rad": 0.008314263509353825, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04250494605042211, 0.18999854813209915 ], "candidate_pixels": 4768, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.449410130033557, -0.11601562500000001 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4771, "yaw_axis_rad": -0.00010235433118310766, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042865720199785046, 0.1936844250196212 ], "candidate_pixels": 4976, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4583623894694534, -0.11573954983922795 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4979, "yaw_axis_rad": -0.008516309329436922, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043061661879600706, 0.2012456332472357 ], "candidate_pixels": 5154, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.467657887077998, -0.11550713038416865 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5157, "yaw_axis_rad": -0.01464090746114266, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043113026502634544, 0.20861113900511719 ], "candidate_pixels": 5254, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47806338028169004, -0.11540112295394092 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5257, "yaw_axis_rad": -0.017119121359225886, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043113026502634544, 0.20861113900511724 ], "candidate_pixels": 5254, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49056338028169016, -0.11540112295394092 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5257, "yaw_axis_rad": -0.017119121359225886, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311213170580016, 0.20861193500606473 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5030053064915285, -0.11539846278317259 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": -0.01708182703784189, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043114175615794254, 0.2075765743677793 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5153331508284136, -0.11540456579699211 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017115327195624808, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043135816199167856, 0.20755436744022554 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5275419998096329, -0.11539037216828585 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": -0.017145373453499424, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-sustained_motion", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-02-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-02-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.81075, "baseline": 0.448209, "camera_observation": 15.397166, "fusion": 0.001459, "input_json_io": 1.234958, "png_io_decode": 6.031458, "processed_window": 23.924 }, { "actuator_observation": 0.85175, "baseline": 0.405834, "camera_observation": 14.901625, "fusion": 0.001375, "input_json_io": 1.288625, "png_io_decode": 5.693125, "processed_window": 23.142334 }, { "actuator_observation": 0.820625, "baseline": 0.400084, "camera_observation": 15.235541, "fusion": 0.00175, "input_json_io": 1.160083, "png_io_decode": 5.500625, "processed_window": 23.118708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-instant_alias", "layout_id": "fresh-02", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-02-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-02-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.867666, "baseline": 0.400458, "camera_observation": 15.141084, "fusion": 0.00175, "input_json_io": 1.183458, "png_io_decode": 5.346917, "processed_window": 22.941333 }, { "actuator_observation": 0.837208, "baseline": 0.398959, "camera_observation": 15.27175, "fusion": 0.001625, "input_json_io": 1.208917, "png_io_decode": 5.384166, "processed_window": 23.102625 }, { "actuator_observation": 0.829625, "baseline": 0.408125, "camera_observation": 15.291542, "fusion": 0.001542, "input_json_io": 1.154166, "png_io_decode": 5.328875, "processed_window": 23.013875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.67902417008134e-09, "upper": 2.67902417008134e-09 }, "observed": 2.67902417008134e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152849270998e-10, "upper": 9.189152849270998e-10 }, "observed": 9.189152849270998e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694151, "upper": 0.2942999990694151 }, "observed": 0.2942999990694151, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418317007579e-07, "upper": 1.0857418317007579e-07 }, "observed": 1.0857418317007579e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.14159265139861, "upper": 3.14159265139861 }, "observed": 3.14159265139861, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/4ed83c106b621b02aef5191a3ff2f7b8a155a29eae068703936d6771dace193a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-yaw_flip180", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545509020662092e-10, "complete": false, "linear_speed_m_s": 8.404882592832254e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418317007579e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-02-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-02-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.821916, "baseline": 0.42375, "camera_observation": 14.425834, "fusion": 0.001625, "input_json_io": 1.165125, "png_io_decode": 5.507291, "processed_window": 22.345541 }, { "actuator_observation": 0.8315, "baseline": 0.39775, "camera_observation": 14.232458, "fusion": 0.001584, "input_json_io": 1.197125, "png_io_decode": 4.973292, "processed_window": 21.633709 }, { "actuator_observation": 0.868167, "baseline": 0.400042, "camera_observation": 14.412375, "fusion": 0.001583, "input_json_io": 1.174541, "png_io_decode": 4.995125, "processed_window": 21.851833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-lookalike_wrongobject", "layout_id": "fresh-02", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-02-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-02-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.838958, "baseline": 0.240625, "camera_observation": 15.30325, "fusion": 0.001792, "input_json_io": 1.03375, "png_io_decode": 5.180292, "processed_window": 22.598667 }, { "actuator_observation": 0.853125, "baseline": 0.234666, "camera_observation": 15.149125, "fusion": 0.001917, "input_json_io": 1.079792, "png_io_decode": 5.041375, "processed_window": 22.36 }, { "actuator_observation": 0.852375, "baseline": 0.245166, "camera_observation": 15.433667, "fusion": 0.001833, "input_json_io": 1.088834, "png_io_decode": 5.3085, "processed_window": 22.930375 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6793444365423184e-09, "upper": 2.6793444365423184e-09 }, "observed": 2.6793444365423184e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189150327012622e-10, "upper": 9.189150327012622e-10 }, "observed": 9.189150327012622e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418388562782e-07, "upper": 1.0857418388562782e-07 }, "observed": 1.0857418388562782e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/815e302234337e96628bde33a6c267192bd4ac5bfd19f1663ee1984686d5d6e0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "native-fresh-02-elevated_support", "layout_id": "fresh-02", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546554220807077e-10, "complete": false, "linear_speed_m_s": 8.405871131703907e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418388562781e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911823258613516e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-02-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-02-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.85825, "baseline": 0.40675, "camera_observation": 15.083458, "fusion": 0.0015, "input_json_io": 1.158375, "png_io_decode": 5.154958, "processed_window": 22.663291 }, { "actuator_observation": 0.848, "baseline": 0.413833, "camera_observation": 15.007792, "fusion": 0.00175, "input_json_io": 1.171708, "png_io_decode": 5.177167, "processed_window": 22.62025 }, { "actuator_observation": 0.814458, "baseline": 0.397167, "camera_observation": 15.174375, "fusion": 0.001709, "input_json_io": 1.131917, "png_io_decode": 4.956666, "processed_window": 22.476292 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-complete", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.832834, "baseline": 0.418209, "camera_observation": 13.971416, "fusion": 0.010041, "input_json_io": 1.228834, "png_io_decode": 5.552791, "processed_window": 22.014125 }, { "actuator_observation": 0.846625, "baseline": 0.404583, "camera_observation": 14.395459, "fusion": 0.012416, "input_json_io": 1.16425, "png_io_decode": 5.420292, "processed_window": 22.243625 }, { "actuator_observation": 0.889542, "baseline": 0.410084, "camera_observation": 14.113291, "fusion": 0.013083, "input_json_io": 1.189583, "png_io_decode": 5.4745, "processed_window": 22.090083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-03-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c69781e4073c509c8265419077d2abafb0422d5371bad3a1565b63f895770fcb.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-occluded", "layout_id": "fresh-03", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-03-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-03-occluded.json", "timing_ms": [ { "actuator_observation": 0.838417, "baseline": 0.403042, "camera_observation": 11.006958, "fusion": 0.003125, "input_json_io": 1.097875, "png_io_decode": 4.159541, "processed_window": 17.508958 }, { "actuator_observation": 0.85675, "baseline": 0.400208, "camera_observation": 10.455167, "fusion": 0.003375, "input_json_io": 1.331584, "png_io_decode": 3.938875, "processed_window": 16.985959 }, { "actuator_observation": 0.816958, "baseline": 0.404708, "camera_observation": 10.463792, "fusion": 0.002708, "input_json_io": 1.230291, "png_io_decode": 4.069084, "processed_window": 16.987541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791165935247535e-09, "upper": 2.6791165935247535e-09 }, "observed": 2.6791165935247535e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153826874582e-10, "upper": 9.189153826874582e-10 }, "observed": 9.189153826874582e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941534, "upper": 0.29429999906941534 }, "observed": 0.29429999906941534, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1699999700545765, "upper": 0.1699999700545765 }, "observed": 0.1699999700545765, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564291567782e-09, "upper": 2.196564291567782e-09 }, "observed": 2.196564291567782e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be62bde03409f753e81cf075477d04f522bad6399189593b13d252d6b06fd9bf.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_position", "layout_id": "fresh-03", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.5458195528373e-10, "complete": false, "linear_speed_m_s": 8.405169121733525e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997005279738, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911832626120287e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-03-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-03-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.874583, "baseline": 0.389042, "camera_observation": 14.315625, "fusion": 0.001834, "input_json_io": 1.169791, "png_io_decode": 5.156625, "processed_window": 21.9075 }, { "actuator_observation": 0.790917, "baseline": 0.394709, "camera_observation": 14.224416, "fusion": 0.001833, "input_json_io": 3.346834, "png_io_decode": 6.305041, "processed_window": 25.06375 }, { "actuator_observation": 0.784334, "baseline": 0.379833, "camera_observation": 13.614458, "fusion": 0.001708, "input_json_io": 1.131375, "png_io_decode": 4.9595, "processed_window": 20.871208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6792851170926363e-09, "upper": 2.6792851170926363e-09 }, "observed": 2.6792851170926363e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153331564724e-10, "upper": 9.189153331564724e-10 }, "observed": 9.189153331564724e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418367909795e-07, "upper": 1.0857418367909795e-07 }, "observed": 1.0857418367909795e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037162, "upper": 1.5707963246037162 }, "observed": 1.5707963246037162, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/593e13896b67a3eaa4f1f274bdff77d4ae5c86be6c6d9db84054ac79f6fc5db1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_orientation", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546324067929553e-10, "complete": false, "linear_speed_m_s": 8.405671769550844e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418367909795e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037162 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-03-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-03-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.786291, "baseline": 0.413292, "camera_observation": 14.895625, "fusion": 0.001792, "input_json_io": 1.099375, "png_io_decode": 5.193167, "processed_window": 22.389542 }, { "actuator_observation": 0.786667, "baseline": 0.380333, "camera_observation": 13.956875, "fusion": 0.001416, "input_json_io": 1.221333, "png_io_decode": 5.143459, "processed_window": 21.490083 }, { "actuator_observation": 0.789542, "baseline": 0.37975, "camera_observation": 14.161541, "fusion": 0.001875, "input_json_io": 1.141875, "png_io_decode": 4.95425, "processed_window": 21.428833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-03-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/78b1e8f5694a44a3813b0e667afbe8fa5aa75d28a033d97c4fca3062e2e90c7e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-missing_target", "layout_id": "fresh-03", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-03-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-03-missing_target.json", "timing_ms": [ { "actuator_observation": 0.781375, "baseline": 0.23325, "camera_observation": 10.118125, "fusion": 0.001792, "input_json_io": 1.056916, "png_io_decode": 5.088875, "processed_window": 17.280333 }, { "actuator_observation": 0.831291, "baseline": 0.239833, "camera_observation": 10.542084, "fusion": 0.002167, "input_json_io": 0.966959, "png_io_decode": 6.302833, "processed_window": 18.885167 }, { "actuator_observation": 0.847667, "baseline": 0.23975, "camera_observation": 10.60775, "fusion": 0.002625, "input_json_io": 1.073709, "png_io_decode": 4.943208, "processed_window": 17.714709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-03-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c86283697af271fc05c45e6bc7fabe617100c3eb0f974c053bf464c65a467fc2.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-wrong_object", "layout_id": "fresh-03", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-03-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-03-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.829042, "baseline": 0.234708, "camera_observation": 10.84925, "fusion": 0.001958, "input_json_io": 1.057791, "png_io_decode": 5.277084, "processed_window": 18.249833 }, { "actuator_observation": 0.835209, "baseline": 0.232042, "camera_observation": 10.520583, "fusion": 0.002083, "input_json_io": 1.032125, "png_io_decode": 4.785125, "processed_window": 17.407167 }, { "actuator_observation": 0.835417, "baseline": 0.235167, "camera_observation": 10.665375, "fusion": 0.001958, "input_json_io": 1.046208, "png_io_decode": 5.015, "processed_window": 17.799125 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039456111539948824, "jaw_gap_min_m": 0.03745196802269663, "maximum_abs_drive_effort_n": 0.7754951305302551, "maximum_abs_jaw_rate_m_s": 0.002033314653847368, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.002965272998290618, "upper": 0.002965272998290618 }, "observed": 0.002965272998290618, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0001193147939398041, "upper": 0.0001193147939398041 }, "observed": 0.0001193147939398041, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7545373327212899, "upper": 0.7545373327212899 }, "observed": 0.7545373327212899, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.300900543608132, "upper": 0.300900543608132 }, "observed": 0.300900543608132, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.009216272459291342, "upper": 0.009216272459291342 }, "observed": 0.009216272459291342, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.11349369609105886, "upper": 0.11349369609105886 }, "observed": 0.11349369609105886, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188486016352328 ], "displacement_interval_m": [ 0.0, 0.08376972032703732 ], "displacement_m": 1.9720327037309042e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188011197802608 ], "displacement_interval_m": [ 0.0, 0.08376022395604295 ], "displacement_m": 1.0223956042936288e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.18783511820723 ], "displacement_interval_m": [ 0.0, 0.08375670236413538 ], "displacement_m": 6.7023641353679355e-06, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188195350627831 ], "displacement_interval_m": [ 0.0, 0.08376390701254739 ], "displacement_m": 1.3907012547384368e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187919874605035 ], "displacement_interval_m": [ 0.0, 0.08375839749209146 ], "displacement_m": 8.397492091454371e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187844528096397 ], "displacement_interval_m": [ 0.0, 0.0837568905619187 ], "displacement_m": 6.890561918703217e-06, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41895278411211795 ], "net_displacement_interval_m": [ 0.0, 0.08379055682241436 ], "net_displacement_m": 4.055682241435484e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297306771925358, 0.17832176342359674 ], "candidate_pixels": 4711, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107958766716199, -0.11911948100190671 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4711, "yaw_axis_rad": 0.04494558488932654, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04296140987838677, 0.17832377016118278 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080520169851403, -0.11912367303608967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045031657443928896, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294734278683149, 0.1783242322776561 ], "candidate_pixels": 4709, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080072733064366, -0.11912866319812748 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4709, "yaw_axis_rad": 0.04498570687583525, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-unreleased", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-03-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-03-unreleased.json", "timing_ms": [ { "actuator_observation": 0.831166, "baseline": 0.400208, "camera_observation": 14.145334, "fusion": 0.001917, "input_json_io": 1.111542, "png_io_decode": 5.749, "processed_window": 22.239167 }, { "actuator_observation": 0.842708, "baseline": 0.404333, "camera_observation": 14.49075, "fusion": 0.002042, "input_json_io": 1.147958, "png_io_decode": 5.771959, "processed_window": 22.65975 }, { "actuator_observation": 0.834375, "baseline": 0.403833, "camera_observation": 14.995667, "fusion": 0.001833, "input_json_io": 1.154583, "png_io_decode": 5.613042, "processed_window": 23.003333 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16530999092982043, "upper": 0.16530999092982043 }, "observed": 0.16530999092982043, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6504851816318017, "upper": 0.6504851816318017 }, "observed": 0.6504851816318017, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05852746498360668, "upper": 0.05852746498360668 }, "observed": 0.05852746498360668, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1260334537014029, "upper": 0.1260334537014029 }, "observed": 0.1260334537014029, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.699267069617322e-06, "upper": 8.699267069617322e-06 }, "observed": 8.699267069617322e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 5.12083142766544 ], "displacement_interval_m": [ 0.0, 0.10241662855330888 ], "displacement_m": 0.018666628553308875, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.623601636397813 ], "displacement_interval_m": [ 0.0, 0.09247203272795634 ], "displacement_m": 0.008722032727956332, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.609147758863286 ], "displacement_interval_m": [ 0.0, 0.09218295517726581 ], "displacement_m": 0.008432955177265802, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.626735646647068 ], "displacement_interval_m": [ 0.0, 0.09253471293294145 ], "displacement_m": 0.008784712932941441, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.708236132637428 ], "displacement_interval_m": [ 0.0, 0.09416472265274864 ], "displacement_m": 0.010414722652748634, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.758505789443864 ], "displacement_interval_m": [ 0.0, 0.09517011578887735 ], "displacement_m": 0.011420115788877342, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.811271730080763 ], "displacement_interval_m": [ 0.0, 0.09622543460161534 ], "displacement_m": 0.01247543460161533, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.808004153744172 ], "displacement_interval_m": [ 0.0, 0.09616008307488351 ], "displacement_m": 0.012410083074883503, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.801231486392984 ], "displacement_interval_m": [ 0.0, 0.09602462972785977 ], "displacement_m": 0.012274629727859762, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.798910301909373 ], "displacement_interval_m": [ 0.0, 0.09597820603818755 ], "displacement_m": 0.012228206038187545, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.16023592668238829, 0.9977359266823876 ], "net_displacement_interval_m": [ 0.032047185336477685, 0.1995471853364777 ], "net_displacement_m": 0.11579718533647769, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04335417885183969, 0.17721142245187244 ], "candidate_pixels": 4380, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42702711187214604, -0.1288613013698618 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4545, "yaw_axis_rad": -0.03714075807727113, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308530665299677, 0.18202412776105364 ], "candidate_pixels": 4614, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4357317403554402, -0.12831057650628186 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4637, "yaw_axis_rad": -0.048719239517802215, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428746957295525, 0.1910249369450483 ], "candidate_pixels": 4846, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4441503301692116, -0.1278185617003682 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4849, "yaw_axis_rad": -0.05623745133564029, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04282240710921409, 0.2010954687690971 ], "candidate_pixels": 5054, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4529261476058567, -0.12742332805698126 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5057, "yaw_axis_rad": -0.06149222098552265, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04273321771451785, 0.203853892522824 ], "candidate_pixels": 5169, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46333659798800525, -0.12712504836525107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5172, "yaw_axis_rad": -0.06598126180250752, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04273004532804328, 0.20791252269274257 ], "candidate_pixels": 5226, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.474756027554535, -0.12699985648679343 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5229, "yaw_axis_rad": -0.06772800008419466, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042732286565161495, 0.2078293806662567 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48723145933014356, -0.1270082535885134 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -0.06783739476909822, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042751270641838555, 0.20799202251386295 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49964154235991615, -0.12700719544845718 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": -0.06764329941317015, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0427702706396864, 0.20768893558441034 ], "candidate_pixels": 5222, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5119161719647644, -0.1270054576790468 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5225, "yaw_axis_rad": -0.06784328777271309, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04275357229255052, 0.20768376346965603 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5241443779904308, -0.12700490430621675 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -0.06783706464971395, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-sustained_motion", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-03-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-03-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.767458, "baseline": 0.383375, "camera_observation": 13.804583, "fusion": 0.001459, "input_json_io": 1.096792, "png_io_decode": 4.92125, "processed_window": 20.974917 }, { "actuator_observation": 0.79025, "baseline": 0.375958, "camera_observation": 14.166584, "fusion": 0.001583, "input_json_io": 1.099208, "png_io_decode": 5.498667, "processed_window": 21.93225 }, { "actuator_observation": 0.782541, "baseline": 0.383875, "camera_observation": 13.6445, "fusion": 0.00175, "input_json_io": 1.095208, "png_io_decode": 5.561292, "processed_window": 21.469166 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-instant_alias", "layout_id": "fresh-03", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-03-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-03-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.782084, "baseline": 0.373208, "camera_observation": 13.300875, "fusion": 0.001708, "input_json_io": 1.097, "png_io_decode": 4.786, "processed_window": 20.340875 }, { "actuator_observation": 0.788458, "baseline": 0.385333, "camera_observation": 13.3485, "fusion": 0.001459, "input_json_io": 1.123541, "png_io_decode": 4.865834, "processed_window": 20.513125 }, { "actuator_observation": 0.790084, "baseline": 0.377542, "camera_observation": 13.589083, "fusion": 0.001708, "input_json_io": 1.091708, "png_io_decode": 4.817, "processed_window": 20.667125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6790573256517174e-09, "upper": 2.6790573256517174e-09 }, "observed": 2.6790573256517174e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153546957076e-10, "upper": 9.189153546957076e-10 }, "observed": 9.189153546957076e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418345847427e-07, "upper": 1.0857418345847427e-07 }, "observed": 1.0857418345847427e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.14159265139861, "upper": 3.14159265139861 }, "observed": 3.14159265139861, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/3b9619c568e577356155a623170d0c2f5beb753036baec1d2d9b44f7ee0409e4.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-yaw_flip180", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545571555938663e-10, "complete": false, "linear_speed_m_s": 8.404968041245966e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418345847427e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-03-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-03-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.7845, "baseline": 0.377541, "camera_observation": 13.838417, "fusion": 0.001333, "input_json_io": 1.132916, "png_io_decode": 5.250209, "processed_window": 21.384916 }, { "actuator_observation": 0.789625, "baseline": 0.382, "camera_observation": 13.369167, "fusion": 0.001542, "input_json_io": 1.050583, "png_io_decode": 4.806875, "processed_window": 20.399792 }, { "actuator_observation": 0.785209, "baseline": 0.385292, "camera_observation": 13.684833, "fusion": 0.001625, "input_json_io": 1.19925, "png_io_decode": 5.220208, "processed_window": 21.276417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-lookalike_wrongobject", "layout_id": "fresh-03", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-03-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-03-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.863958, "baseline": 0.237209, "camera_observation": 13.98525, "fusion": 0.001875, "input_json_io": 1.016084, "png_io_decode": 5.342291, "processed_window": 21.446667 }, { "actuator_observation": 0.871208, "baseline": 0.263875, "camera_observation": 14.871459, "fusion": 0.002292, "input_json_io": 1.107542, "png_io_decode": 5.306166, "processed_window": 22.422542 }, { "actuator_observation": 0.873, "baseline": 0.250083, "camera_observation": 15.029417, "fusion": 0.002208, "input_json_io": 1.170291, "png_io_decode": 5.987209, "processed_window": 23.312208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6790497145994695e-09, "upper": 2.6790497145994695e-09 }, "observed": 2.6790497145994695e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189150617983221e-10, "upper": 9.189150617983221e-10 }, "observed": 9.189150617983221e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418338238117e-07, "upper": 1.0857418338238117e-07 }, "observed": 1.0857418338238117e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be96f6b422b56fc3f04c202d2221feae40b9ef9e6b5a62557d70a9c0b8479696.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "native-fresh-03-elevated_support", "layout_id": "fresh-03", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545823782001341e-10, "complete": false, "linear_speed_m_s": 8.405122152250802e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418338238117e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911834707788458e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-03-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-03-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.895333, "baseline": 0.424625, "camera_observation": 14.730583, "fusion": 0.002125, "input_json_io": 1.249584, "png_io_decode": 7.015, "processed_window": 24.31725 }, { "actuator_observation": 0.863625, "baseline": 0.427833, "camera_observation": 15.155, "fusion": 0.002, "input_json_io": 1.215, "png_io_decode": 4.961959, "processed_window": 22.625417 }, { "actuator_observation": 0.895417, "baseline": 0.452292, "camera_observation": 15.712583, "fusion": 0.001875, "input_json_io": 1.384291, "png_io_decode": 6.056417, "processed_window": 24.502875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-complete", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 1.027166, "baseline": 0.45075, "camera_observation": 16.245834, "fusion": 0.016584, "input_json_io": 1.940417, "png_io_decode": 6.717958, "processed_window": 26.398709 }, { "actuator_observation": 0.939167, "baseline": 0.470875, "camera_observation": 16.552667, "fusion": 0.014958, "input_json_io": 1.480959, "png_io_decode": 6.284416, "processed_window": 25.743042 }, { "actuator_observation": 0.857875, "baseline": 0.442334, "camera_observation": 16.019833, "fusion": 0.013167, "input_json_io": 1.43625, "png_io_decode": 6.189041, "processed_window": 24.9585 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-04-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/b3b1a613fa3c5f6e89fd38a9dead387c0c575283b0bb5307c5aaad2811985ca7.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-occluded", "layout_id": "fresh-04", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-04-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-04-occluded.json", "timing_ms": [ { "actuator_observation": 0.940291, "baseline": 0.454042, "camera_observation": 11.528, "fusion": 0.004709, "input_json_io": 1.303167, "png_io_decode": 4.584458, "processed_window": 18.814667 }, { "actuator_observation": 0.936708, "baseline": 0.464292, "camera_observation": 11.787458, "fusion": 0.005084, "input_json_io": 1.449709, "png_io_decode": 5.331083, "processed_window": 19.974334 }, { "actuator_observation": 0.90825, "baseline": 0.451292, "camera_observation": 12.043916, "fusion": 0.00425, "input_json_io": 1.301083, "png_io_decode": 5.368042, "processed_window": 20.076833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678886645376585e-09, "upper": 2.678886645376585e-09 }, "observed": 2.678886645376585e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153245177695e-10, "upper": 9.189153245177695e-10 }, "observed": 9.189153245177695e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999996950732768, "upper": 0.16999996950732768 }, "observed": 0.16999996950732768, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7741fdc5c20dd5ee0623d0bc5d61acbda181412efd4388e9e1f5b0a38534293e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_position", "layout_id": "fresh-04", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545350784916803e-10, "complete": false, "linear_speed_m_s": 8.404683633306893e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996950551746, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911838732346922e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-04-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-04-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.873708, "baseline": 0.455667, "camera_observation": 15.706208, "fusion": 0.001875, "input_json_io": 1.519166, "png_io_decode": 9.843167, "processed_window": 28.399791 }, { "actuator_observation": 0.941667, "baseline": 0.455708, "camera_observation": 15.955125, "fusion": 0.002083, "input_json_io": 1.539875, "png_io_decode": 7.522417, "processed_window": 26.416875 }, { "actuator_observation": 0.88825, "baseline": 0.463084, "camera_observation": 15.828333, "fusion": 0.002125, "input_json_io": 1.284458, "png_io_decode": 8.429875, "processed_window": 26.896125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789300255467205e-09, "upper": 2.6789300255467205e-09 }, "observed": 2.6789300255467205e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153237440934e-10, "upper": 9.189153237440934e-10 }, "observed": 9.189153237440934e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.294299999069415, "upper": 0.294299999069415 }, "observed": 0.294299999069415, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418333415147e-07, "upper": 1.0857418333415147e-07 }, "observed": 1.0857418333415147e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037169, "upper": 1.5707963246037169 }, "observed": 1.5707963246037169, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7685073843e4aa5db281438a69635db5f0610316082d2620d97ce81e39d15039.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_orientation", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545087637567077e-10, "complete": false, "linear_speed_m_s": 8.40451987767496e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418333415149e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-04-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-04-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.96525, "baseline": 0.4525, "camera_observation": 16.672, "fusion": 0.002375, "input_json_io": 1.3965, "png_io_decode": 8.735583, "processed_window": 28.224208 }, { "actuator_observation": 0.924833, "baseline": 0.45175, "camera_observation": 16.923667, "fusion": 0.002083, "input_json_io": 1.349291, "png_io_decode": 7.011667, "processed_window": 26.663291 }, { "actuator_observation": 0.920458, "baseline": 0.45975, "camera_observation": 16.542834, "fusion": 0.002625, "input_json_io": 1.280833, "png_io_decode": 8.288708, "processed_window": 27.495208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-04-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/18337c7013616fa0945ad709cba4d57d5bc8cd15a1d001e227d4a35e0f6cf724.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-missing_target", "layout_id": "fresh-04", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-04-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-04-missing_target.json", "timing_ms": [ { "actuator_observation": 0.928959, "baseline": 0.266833, "camera_observation": 11.650583, "fusion": 0.002625, "input_json_io": 1.154125, "png_io_decode": 5.210459, "processed_window": 19.213584 }, { "actuator_observation": 0.890375, "baseline": 0.260167, "camera_observation": 11.026625, "fusion": 0.002167, "input_json_io": 1.201417, "png_io_decode": 7.340708, "processed_window": 20.721459 }, { "actuator_observation": 0.86275, "baseline": 0.256916, "camera_observation": 11.316209, "fusion": 0.002458, "input_json_io": 1.1515, "png_io_decode": 5.338167, "processed_window": 18.928 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-04-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/8d8b0c251a929e2a4cb2ba5883d3260c881355db3b9e54113e356d465fbf2699.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-wrong_object", "layout_id": "fresh-04", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-04-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-04-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.925667, "baseline": 0.245333, "camera_observation": 12.248208, "fusion": 0.002833, "input_json_io": 1.070041, "png_io_decode": 5.572209, "processed_window": 20.064291 }, { "actuator_observation": 0.918042, "baseline": 0.267083, "camera_observation": 12.13375, "fusion": 0.0025, "input_json_io": 1.206792, "png_io_decode": 6.64075, "processed_window": 21.168917 }, { "actuator_observation": 0.948375, "baseline": 0.270875, "camera_observation": 12.011459, "fusion": 0.0025, "input_json_io": 1.128667, "png_io_decode": 6.234833, "processed_window": 20.596709 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008375094874833, "jaw_gap_min_m": 0.038082011567563565, "maximum_abs_drive_effort_n": 0.7887929746919123, "maximum_abs_jaw_rate_m_s": 0.002013967994096862, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0040302146747235685, "upper": 0.0040302146747235685 }, "observed": 0.0040302146747235685, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 6.865990375658642e-05, "upper": 6.865990375658642e-05 }, "observed": 6.865990375658642e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7782195925875769, "upper": 0.7782195925875769 }, "observed": 0.7782195925875769, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2996249736798782, "upper": 0.2996249736798782 }, "observed": 0.2996249736798782, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0005339352224412614, "upper": 0.0005339352224412614 }, "observed": 0.0005339352224412614, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004682490266398706, "upper": 0.004682490266398706 }, "observed": 0.004682490266398706, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188251546514547 ], "displacement_interval_m": [ 0.0, 0.08376503093028172 ], "displacement_m": 1.5030930281712658e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188380578158487 ], "displacement_interval_m": [ 0.0, 0.08376761156316051 ], "displacement_m": 1.7611563160509218e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.1883929932598125 ], "displacement_interval_m": [ 0.0, 0.08376785986518703 ], "displacement_m": 1.7859865187027096e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41886735745506476 ], "net_displacement_interval_m": [ 0.0, 0.08377347149100373 ], "net_displacement_m": 2.3471491003721198e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430837152387047, 0.1778644067933349 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930848758827305, -0.14472381232613118 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08193588053979539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308296628765269, 0.17786401772951688 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39306803594351725, -0.14471865639709264 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08206953733914091, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-unreleased", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-04-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-04-unreleased.json", "timing_ms": [ { "actuator_observation": 0.8475, "baseline": 0.42825, "camera_observation": 15.218, "fusion": 0.002042, "input_json_io": 1.244333, "png_io_decode": 5.877333, "processed_window": 23.617458 }, { "actuator_observation": 0.8425, "baseline": 0.405833, "camera_observation": 14.132834, "fusion": 0.001791, "input_json_io": 1.163625, "png_io_decode": 5.54775, "processed_window": 22.094333 }, { "actuator_observation": 0.824084, "baseline": 0.401083, "camera_observation": 14.469333, "fusion": 0.001833, "input_json_io": 1.146125, "png_io_decode": 5.687125, "processed_window": 22.529583 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16529111508052186, "upper": 0.16529111508052186 }, "observed": 0.16529111508052186, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6505095745961779, "upper": 0.6505095745961779 }, "observed": 0.6505095745961779, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05853048239391374, "upper": 0.05853048239391374 }, "observed": 0.05853048239391374, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603348435615697, "upper": 0.12603348435615697 }, "observed": 0.12603348435615697, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.724432610199284e-06, "upper": 8.724432610199284e-06 }, "observed": 8.724432610199284e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.8547219215035815 ], "displacement_interval_m": [ 0.0, 0.09709443843007172 ], "displacement_m": 0.01334443843007172, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.828160946204805 ], "displacement_interval_m": [ 0.0, 0.09656321892409618 ], "displacement_m": 0.012813218924096176, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.819124965181434 ], "displacement_interval_m": [ 0.0, 0.09638249930362876 ], "displacement_m": 0.012632499303628749, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.772524183670176 ], "displacement_interval_m": [ 0.0, 0.0954504836734036 ], "displacement_m": 0.011700483673403596, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.770069057615581 ], "displacement_interval_m": [ 0.0, 0.09540138115231171 ], "displacement_m": 0.011651381152311712, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.801823427216073 ], "displacement_interval_m": [ 0.0, 0.09603646854432155 ], "displacement_m": 0.012286468544321548, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.810927066214302 ], "displacement_interval_m": [ 0.0, 0.09621854132428613 ], "displacement_m": 0.012468541324286124, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8042683463747275 ], "displacement_interval_m": [ 0.0, 0.09608536692749463 ], "displacement_m": 0.012335366927494623, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.804743198878354 ], "displacement_interval_m": [ 0.0, 0.09609486397756717 ], "displacement_m": 0.012344863977567158, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.803700880411384 ], "displacement_interval_m": [ 0.0, 0.09607401760822777 ], "displacement_m": 0.012324017608227772, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.20074559109712797, 1.0382455910971273 ], "net_displacement_interval_m": [ 0.04014911821942563, 0.20764911821942564 ], "net_displacement_m": 0.12389911821942563, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305636349704371, 0.20816433535608175 ], "candidate_pixels": 5067, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39709628478389597, -0.1448543270179609 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5070, "yaw_axis_rad": -0.06284952753659923, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04301097079152966, 0.20799265201843137 ], "candidate_pixels": 5077, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40990927220799683, -0.14477730451053938 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5080, "yaw_axis_rad": -0.06371628539771557, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042944031436081685, 0.2081600010489687 ], "candidate_pixels": 5111, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4225412101350028, -0.14465821267853843 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5114, "yaw_axis_rad": -0.06597975924093191, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429262213199884, 0.20703580318799591 ], "candidate_pixels": 5176, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4342397604327668, -0.14444551777434533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5179, "yaw_axis_rad": -0.06998154087892239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042915004317506486, 0.2070907901487215 ], "candidate_pixels": 5228, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4458901587605205, -0.14429418515685014 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5231, "yaw_axis_rad": -0.07273048102523738, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04293980221563529, 0.20777858748985112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45817648741418754, -0.1442355549199108 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07354235582157109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900933848638426, 0.20787217901987037 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47064502670226954, -0.14424268071714902 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.0735773655988412, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042898103767962145, 0.20797549053353093 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48298039355822375, -0.1442413522012602 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": -0.07364601601423182, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04290126065604802, 0.2078227359762907 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49532525753529205, -0.14424146318199393 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07363443382643808, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289599129675575, 0.2078155051629002 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5076492750858453, -0.14424265547501186 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07371904975126675, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-sustained_motion", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-04-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-04-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.913209, "baseline": 0.43225, "camera_observation": 16.49575, "fusion": 0.010791, "input_json_io": 1.181166, "png_io_decode": 6.3235, "processed_window": 25.356666 }, { "actuator_observation": 0.939917, "baseline": 0.695583, "camera_observation": 17.56875, "fusion": 0.002375, "input_json_io": 1.485292, "png_io_decode": 6.735875, "processed_window": 27.427792 }, { "actuator_observation": 0.89925, "baseline": 0.47325, "camera_observation": 15.710125, "fusion": 0.001959, "input_json_io": 1.6325, "png_io_decode": 6.656875, "processed_window": 25.373959 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-instant_alias", "layout_id": "fresh-04", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-04-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-04-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.891875, "baseline": 0.443166, "camera_observation": 15.75825, "fusion": 0.002084, "input_json_io": 1.347916, "png_io_decode": 6.017209, "processed_window": 24.4605 }, { "actuator_observation": 0.898542, "baseline": 0.408292, "camera_observation": 14.433041, "fusion": 0.001917, "input_json_io": 1.258416, "png_io_decode": 5.358792, "processed_window": 22.359 }, { "actuator_observation": 0.852625, "baseline": 0.481333, "camera_observation": 15.095417, "fusion": 0.001792, "input_json_io": 1.204459, "png_io_decode": 5.613833, "processed_window": 23.249459 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789462095175093e-09, "upper": 2.6789462095175093e-09 }, "observed": 2.6789462095175093e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153026973436e-10, "upper": 9.189153026973436e-10 }, "observed": 9.189153026973436e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418302683054e-07, "upper": 1.0857418302683054e-07 }, "observed": 1.0857418302683054e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.1415926513986094, "upper": 3.1415926513986094 }, "observed": 3.1415926513986094, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/06f42aa509969f6691d2b2cf437670396af3281c40f6d558ea3c73fa6ad677b2.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-yaw_flip180", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545323934370644e-10, "complete": false, "linear_speed_m_s": 8.404693016049237e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418302683053e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986094 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-04-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-04-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.8495, "baseline": 0.40725, "camera_observation": 14.497875, "fusion": 0.006708, "input_json_io": 1.205333, "png_io_decode": 5.419417, "processed_window": 22.386083 }, { "actuator_observation": 0.8615, "baseline": 0.403416, "camera_observation": 14.43475, "fusion": 0.00175, "input_json_io": 1.187584, "png_io_decode": 5.329375, "processed_window": 22.218375 }, { "actuator_observation": 0.819708, "baseline": 0.400875, "camera_observation": 14.335958, "fusion": 0.001584, "input_json_io": 1.190458, "png_io_decode": 5.364459, "processed_window": 22.113042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-lookalike_wrongobject", "layout_id": "fresh-04", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-04-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-04-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.8205, "baseline": 0.233958, "camera_observation": 14.439834, "fusion": 0.001541, "input_json_io": 1.05425, "png_io_decode": 5.307583, "processed_window": 21.857666 }, { "actuator_observation": 0.824958, "baseline": 0.239625, "camera_observation": 14.233375, "fusion": 0.001792, "input_json_io": 1.026291, "png_io_decode": 5.540584, "processed_window": 21.866625 }, { "actuator_observation": 0.8245, "baseline": 0.235375, "camera_observation": 14.325084, "fusion": 0.00175, "input_json_io": 1.067625, "png_io_decode": 5.277833, "processed_window": 21.732167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789879464159255e-09, "upper": 2.6789879464159255e-09 }, "observed": 2.6789879464159255e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189150378693531e-10, "upper": 9.189150378693531e-10 }, "observed": 9.189150378693531e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418305346888e-07, "upper": 1.0857418305346888e-07 }, "observed": 1.0857418305346888e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/14b234fbf12884785701047fece849c794434cceed78956bc1bdd8bc47c01f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "native-fresh-04-elevated_support", "layout_id": "fresh-04", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545302020576641e-10, "complete": false, "linear_speed_m_s": 8.404705087605508e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.085741830534689e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911837899679654e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-04-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-04-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.838917, "baseline": 0.404958, "camera_observation": 14.783833, "fusion": 0.001583, "input_json_io": 1.204959, "png_io_decode": 5.0125, "processed_window": 22.24675 }, { "actuator_observation": 0.883667, "baseline": 0.416, "camera_observation": 14.601667, "fusion": 0.00175, "input_json_io": 1.147042, "png_io_decode": 5.348166, "processed_window": 22.398292 }, { "actuator_observation": 0.781334, "baseline": 0.392, "camera_observation": 13.275625, "fusion": 0.001583, "input_json_io": 1.173666, "png_io_decode": 5.537625, "processed_window": 21.161833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-complete", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.787125, "baseline": 0.3815, "camera_observation": 14.2405, "fusion": 0.009584, "input_json_io": 1.088625, "png_io_decode": 5.207125, "processed_window": 21.714459 }, { "actuator_observation": 0.830209, "baseline": 0.374959, "camera_observation": 14.327666, "fusion": 0.009416, "input_json_io": 1.092875, "png_io_decode": 4.87475, "processed_window": 21.509875 }, { "actuator_observation": 0.822167, "baseline": 0.403375, "camera_observation": 14.7785, "fusion": 0.010083, "input_json_io": 1.278375, "png_io_decode": 5.214042, "processed_window": 22.506542 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-05-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/5d5af62f1f090c38c2db856fb755b589aef7e5b504d824a4d2aebf536d214344.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-occluded", "layout_id": "fresh-05", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-05-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-05-occluded.json", "timing_ms": [ { "actuator_observation": 0.784166, "baseline": 0.408583, "camera_observation": 10.292334, "fusion": 0.002792, "input_json_io": 1.141417, "png_io_decode": 4.134958, "processed_window": 16.76425 }, { "actuator_observation": 0.78875, "baseline": 0.381208, "camera_observation": 9.891, "fusion": 0.002584, "input_json_io": 1.108834, "png_io_decode": 3.769958, "processed_window": 15.942334 }, { "actuator_observation": 0.819291, "baseline": 0.398667, "camera_observation": 10.467375, "fusion": 0.002792, "input_json_io": 1.102833, "png_io_decode": 3.8655, "processed_window": 16.656458 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791331323256006e-09, "upper": 2.6791331323256006e-09 }, "observed": 2.6791331323256006e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153074483362e-10, "upper": 9.189153074483362e-10 }, "observed": 9.189153074483362e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998760878346, "upper": 0.16999998760878346 }, "observed": 0.16999998760878346, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/aecde7900f1024f37a0f2a146cd70885fdcf46c94fa29fb45a8b5b3dc7c6c7bc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_position", "layout_id": "fresh-05", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545926629864602e-10, "complete": false, "linear_speed_m_s": 8.405262771484578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998760799243, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831377119384e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-05-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-05-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.802333, "baseline": 0.393, "camera_observation": 13.49225, "fusion": 0.0015, "input_json_io": 1.104041, "png_io_decode": 5.330167, "processed_window": 21.123291 }, { "actuator_observation": 0.828833, "baseline": 0.401292, "camera_observation": 13.886208, "fusion": 0.001542, "input_json_io": 1.121042, "png_io_decode": 5.20025, "processed_window": 21.439167 }, { "actuator_observation": 0.796125, "baseline": 0.376041, "camera_observation": 13.625125, "fusion": 0.001625, "input_json_io": 1.075, "png_io_decode": 4.802709, "processed_window": 20.676625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679048575179376e-09, "upper": 2.679048575179376e-09 }, "observed": 2.679048575179376e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153675303129e-10, "upper": 9.189153675303129e-10 }, "observed": 9.189153675303129e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941484, "upper": 0.29429999906941484 }, "observed": 0.29429999906941484, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352739997e-07, "upper": 1.0857418352739997e-07 }, "observed": 1.0857418352739997e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037149, "upper": 1.5707963246037149 }, "observed": 1.5707963246037149, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/79966e41eb412c9445456b8e44679fd11171e9b0d3ded9474e534c5aee28526c.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_orientation", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545657787858832e-10, "complete": false, "linear_speed_m_s": 8.405024814708074e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352739997e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-05-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-05-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.788708, "baseline": 0.404208, "camera_observation": 14.909625, "fusion": 0.001625, "input_json_io": 1.203375, "png_io_decode": 5.051459, "processed_window": 22.359 }, { "actuator_observation": 0.782209, "baseline": 0.37825, "camera_observation": 15.05775, "fusion": 0.001583, "input_json_io": 1.109917, "png_io_decode": 4.970291, "processed_window": 22.3 }, { "actuator_observation": 0.778084, "baseline": 0.38325, "camera_observation": 14.604291, "fusion": 0.0015, "input_json_io": 1.073459, "png_io_decode": 5.40325, "processed_window": 22.243834 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-05-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/7c484c0f708a89fb6e55a1df48e69869cfa46e4951701d1e79af91e3b48f3aae.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-missing_target", "layout_id": "fresh-05", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-05-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-05-missing_target.json", "timing_ms": [ { "actuator_observation": 0.780792, "baseline": 0.221334, "camera_observation": 10.074958, "fusion": 0.001625, "input_json_io": 1.0125, "png_io_decode": 4.682625, "processed_window": 16.773834 }, { "actuator_observation": 0.773125, "baseline": 0.225834, "camera_observation": 10.153958, "fusion": 0.001625, "input_json_io": 0.992083, "png_io_decode": 4.941083, "processed_window": 17.087708 }, { "actuator_observation": 0.791042, "baseline": 0.217542, "camera_observation": 10.097708, "fusion": 0.001708, "input_json_io": 0.967458, "png_io_decode": 4.405625, "processed_window": 16.481083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-05-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/071825e5d8b45e3915dee401a9db7e3271293dcf9e6c1bec3e130b143a60ab54.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-wrong_object", "layout_id": "fresh-05", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-05-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-05-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.755875, "baseline": 0.219208, "camera_observation": 9.932333, "fusion": 0.001542, "input_json_io": 0.951084, "png_io_decode": 4.866625, "processed_window": 16.726667 }, { "actuator_observation": 0.799125, "baseline": 0.218209, "camera_observation": 9.942083, "fusion": 0.001625, "input_json_io": 0.964583, "png_io_decode": 4.65575, "processed_window": 16.581375 }, { "actuator_observation": 0.749667, "baseline": 0.224458, "camera_observation": 10.087792, "fusion": 0.001416, "input_json_io": 0.975291, "png_io_decode": 4.891292, "processed_window": 16.929916 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.041271420427495945, "jaw_gap_min_m": 0.03924908079564287, "maximum_abs_drive_effort_n": 0.8111529837711302, "maximum_abs_jaw_rate_m_s": 0.002120198780887697, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0021890147144376176, "upper": 0.0021890147144376176 }, "observed": 0.0021890147144376176, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00014258973066293148, "upper": 0.00014258973066293148 }, "observed": 0.00014258973066293148, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7950494681634792, "upper": 0.7950494681634792 }, "observed": 0.7950494681634792, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.3076427744504416, "upper": 0.3076427744504416 }, "observed": 0.3076427744504416, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0061984571733047795, "upper": 0.0061984571733047795 }, "observed": 0.0061984571733047795, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.10753724177422341, "upper": 0.10753724177422341 }, "observed": 0.10753724177422341, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188489449920398 ], "displacement_interval_m": [ 0.0, 0.08376978899839875 ], "displacement_m": 1.978899839874917e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.189243813046808 ], "displacement_interval_m": [ 0.0, 0.08378487626092693 ], "displacement_m": 3.4876260926919464e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.18805477612569 ], "displacement_interval_m": [ 0.0, 0.08376109552250458 ], "displacement_m": 1.1095522504575657e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187934650532787 ], "displacement_interval_m": [ 0.0, 0.08375869301064652 ], "displacement_m": 8.693010646522058e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188041551006814 ], "displacement_interval_m": [ 0.0, 0.08376083102012705 ], "displacement_m": 1.083102012704345e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41893092870066956 ], "net_displacement_interval_m": [ 0.0, 0.08378618574012468 ], "net_displacement_m": 3.6185740124681e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043265997409920494, 0.18107188314480713 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989712634578848, -0.08310969495461024 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4737, "yaw_axis_rad": 0.2117843373948931, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-unreleased", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-05-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-05-unreleased.json", "timing_ms": [ { "actuator_observation": 0.836875, "baseline": 0.402542, "camera_observation": 13.730375, "fusion": 0.00175, "input_json_io": 1.049917, "png_io_decode": 5.845916, "processed_window": 21.867375 }, { "actuator_observation": 0.791625, "baseline": 0.380833, "camera_observation": 13.34925, "fusion": 0.001667, "input_json_io": 1.07625, "png_io_decode": 5.5035, "processed_window": 21.103125 }, { "actuator_observation": 0.783542, "baseline": 0.377709, "camera_observation": 13.328416, "fusion": 0.001458, "input_json_io": 1.06675, "png_io_decode": 5.744833, "processed_window": 21.302708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16589447174920174, "upper": 0.16589447174920174 }, "observed": 0.16589447174920174, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6496624201090541, "upper": 0.6496624201090541 }, "observed": 0.6496624201090541, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05842598247930602, "upper": 0.05842598247930602 }, "observed": 0.05842598247930602, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603131361817682, "upper": 0.12603131361817682 }, "observed": 0.12603131361817682, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.6112883707286585e-05, "upper": 1.6112883707286585e-05 }, "observed": 1.6112883707286585e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.5350952985920445 ], "displacement_interval_m": [ 0.0, 0.09070190597184097 ], "displacement_m": 0.006951905971840964, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.538327574803868 ], "displacement_interval_m": [ 0.0, 0.09076655149607744 ], "displacement_m": 0.007016551496077445, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.56062345497579 ], "displacement_interval_m": [ 0.0, 0.09121246909951589 ], "displacement_m": 0.007462469099515881, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.593319607526213 ], "displacement_interval_m": [ 0.0, 0.09186639215052433 ], "displacement_m": 0.00811639215052433, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.632907639021205 ], "displacement_interval_m": [ 0.0, 0.09265815278042419 ], "displacement_m": 0.00890815278042418, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.699445789728054 ], "displacement_interval_m": [ 0.0, 0.09398891579456117 ], "displacement_m": 0.010238915794561165, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.711631004551024 ], "displacement_interval_m": [ 0.0, 0.09423262009102057 ], "displacement_m": 0.010482620091020559, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.741189342398432 ], "displacement_interval_m": [ 0.0, 0.09482378684796872 ], "displacement_m": 0.011073786847968706, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.79803333322235 ], "displacement_interval_m": [ 0.0, 0.0959606666644471 ], "displacement_m": 0.012210666664447086, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.798833106439548 ], "displacement_interval_m": [ 0.0, 0.09597666212879104 ], "displacement_m": 0.012226662128791036, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.05439180300922402, 0.8918918030092232 ], "net_displacement_interval_m": [ 0.010878360601844814, 0.1783783606018448 ], "net_displacement_m": 0.09462836060184482, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04382310192285925, 0.15240771096412803 ], "candidate_pixels": 3879, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42631396622840934, -0.08664523717452714 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4110, "yaw_axis_rad": 0.07296405966134767, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043604445889082945, 0.16440101858126493 ], "candidate_pixels": 4204, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43329477878211203, -0.08735252140817967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4268, "yaw_axis_rad": 0.07758005949610602, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339353819295945, 0.17660761548156018 ], "candidate_pixels": 4489, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4407327634216975, -0.08795653263532723 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4492, "yaw_axis_rad": 0.08163059895908997, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322777681310272, 0.18757409411675857 ], "candidate_pixels": 4744, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.44883115514333877, -0.08849678541314966 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4747, "yaw_axis_rad": 0.0859392770973022, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043080298326187386, 0.19580346493640471 ], "candidate_pixels": 4943, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45772670948816513, -0.08897038741654478 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4946, "yaw_axis_rad": 0.09034809604074745, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04303585689737427, 0.19774190014642495 ], "candidate_pixels": 5071, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46796009169789027, -0.08930696608163678 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5074, "yaw_axis_rad": 0.09485193684166493, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04298437726186946, 0.20215388450546395 ], "candidate_pixels": 5173, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47843985598298855, -0.08955163831432038 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5176, "yaw_axis_rad": 0.09671908862503464, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042968117874174046, 0.20705114456627677 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48951290799770947, -0.08967920881847279 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5242, "yaw_axis_rad": 0.09654525567554195, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294293175182361, 0.20808169551428524 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5017235714285713, -0.08968809523809121 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09623183800336221, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295211354528978, 0.20782549039705916 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5139502334667428, -0.08968660663235732 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 0.0959140985472855, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-sustained_motion", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-05-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-05-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.777, "baseline": 0.369417, "camera_observation": 13.910667, "fusion": 0.001666, "input_json_io": 1.068125, "png_io_decode": 4.901958, "processed_window": 21.028833 }, { "actuator_observation": 0.781583, "baseline": 0.384333, "camera_observation": 13.916667, "fusion": 0.001292, "input_json_io": 1.077833, "png_io_decode": 5.092542, "processed_window": 21.25425 }, { "actuator_observation": 0.783167, "baseline": 0.37875, "camera_observation": 13.638958, "fusion": 0.001583, "input_json_io": 1.086958, "png_io_decode": 5.398667, "processed_window": 21.288083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-instant_alias", "layout_id": "fresh-05", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-05-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-05-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.79075, "baseline": 0.379167, "camera_observation": 14.07875, "fusion": 0.001541, "input_json_io": 1.079125, "png_io_decode": 4.679792, "processed_window": 21.009125 }, { "actuator_observation": 0.846875, "baseline": 0.37975, "camera_observation": 14.632458, "fusion": 0.001583, "input_json_io": 1.108833, "png_io_decode": 4.936542, "processed_window": 21.906041 }, { "actuator_observation": 0.804584, "baseline": 0.405709, "camera_observation": 14.687541, "fusion": 0.002041, "input_json_io": 1.127125, "png_io_decode": 5.530541, "processed_window": 22.557541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791228496601853e-09, "upper": 2.6791228496601853e-09 }, "observed": 2.6791228496601853e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153236065684e-10, "upper": 9.189153236065684e-10 }, "observed": 9.189153236065684e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418357304478e-07, "upper": 1.0857418357304478e-07 }, "observed": 1.0857418357304478e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.1415926513986103, "upper": 3.1415926513986103 }, "observed": 3.1415926513986103, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/a4abd85ce1abf4bd2a5ae4b717ae120672b41b9dcd6f032722c1cd54c614e59c.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-yaw_flip180", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545941378365255e-10, "complete": false, "linear_speed_m_s": 8.405322527252024e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418357304478e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986103 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-05-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-05-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.781916, "baseline": 0.38475, "camera_observation": 13.1575, "fusion": 0.001542, "input_json_io": 1.109708, "png_io_decode": 4.837417, "processed_window": 20.272833 }, { "actuator_observation": 0.794584, "baseline": 0.377167, "camera_observation": 13.590833, "fusion": 0.001666, "input_json_io": 1.111459, "png_io_decode": 4.688916, "processed_window": 20.564625 }, { "actuator_observation": 0.778208, "baseline": 0.376834, "camera_observation": 13.082083, "fusion": 0.001542, "input_json_io": 1.119708, "png_io_decode": 4.949833, "processed_window": 20.308208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-lookalike_wrongobject", "layout_id": "fresh-05", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-05-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-05-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.785917, "baseline": 0.2205, "camera_observation": 14.23025, "fusion": 0.001416, "input_json_io": 0.954667, "png_io_decode": 4.68725, "processed_window": 20.88 }, { "actuator_observation": 0.790375, "baseline": 0.220542, "camera_observation": 14.251083, "fusion": 0.001625, "input_json_io": 0.989292, "png_io_decode": 4.740333, "processed_window": 20.99325 }, { "actuator_observation": 0.78625, "baseline": 0.232875, "camera_observation": 14.396125, "fusion": 0.001666, "input_json_io": 1.005292, "png_io_decode": 5.009375, "processed_window": 21.431583 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679329282081744e-09, "upper": 2.679329282081744e-09 }, "observed": 2.679329282081744e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189151393160533e-10, "upper": 9.189151393160533e-10 }, "observed": 9.189151393160533e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418391138657e-07, "upper": 1.0857418391138657e-07 }, "observed": 1.0857418391138657e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/94afe532d87614b8f2be291251287bc8a56e11869b625038206c8f0b168acc13.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "native-fresh-05-elevated_support", "layout_id": "fresh-05", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546714190956518e-10, "complete": false, "linear_speed_m_s": 8.406005225034952e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418391138659e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182513211487e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-05-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-05-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.790834, "baseline": 0.378542, "camera_observation": 14.257666, "fusion": 0.001541, "input_json_io": 1.157875, "png_io_decode": 5.039542, "processed_window": 21.626 }, { "actuator_observation": 0.834375, "baseline": 0.377333, "camera_observation": 14.666667, "fusion": 0.0015, "input_json_io": 1.084375, "png_io_decode": 4.72575, "processed_window": 21.69 }, { "actuator_observation": 0.800459, "baseline": 0.381125, "camera_observation": 14.083333, "fusion": 0.001791, "input_json_io": 3.258792, "png_io_decode": 5.086208, "processed_window": 23.611708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-complete", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.779958, "baseline": 0.372042, "camera_observation": 13.33675, "fusion": 0.002959, "input_json_io": 1.048959, "png_io_decode": 4.853291, "processed_window": 20.393959 }, { "actuator_observation": 0.788333, "baseline": 0.3655, "camera_observation": 13.729417, "fusion": 0.002875, "input_json_io": 1.0735, "png_io_decode": 4.466167, "processed_window": 20.425792 }, { "actuator_observation": 0.754167, "baseline": 0.372, "camera_observation": 13.724208, "fusion": 0.002541, "input_json_io": 1.125167, "png_io_decode": 5.064167, "processed_window": 21.04225 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/db08b13c84ec82fededa4f692b66c216b3591ab39b691ac7d8fd193e20b9f459.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-occluded", "layout_id": "fresh-06", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-06-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-06-occluded.json", "timing_ms": [ { "actuator_observation": 0.74075, "baseline": 0.362291, "camera_observation": 9.622125, "fusion": 0.002542, "input_json_io": 1.086542, "png_io_decode": 3.6415, "processed_window": 15.45575 }, { "actuator_observation": 0.742167, "baseline": 0.354792, "camera_observation": 9.761375, "fusion": 0.002666, "input_json_io": 1.006458, "png_io_decode": 3.4805, "processed_window": 15.347958 }, { "actuator_observation": 0.780583, "baseline": 0.355125, "camera_observation": 9.615667, "fusion": 0.003209, "input_json_io": 1.029209, "png_io_decode": 3.765291, "processed_window": 15.549084 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796468428468016e-09, "upper": 2.6796468428468016e-09 }, "observed": 2.6796468428468016e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915323788568e-10, "upper": 9.18915323788568e-10 }, "observed": 9.18915323788568e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1699999842981891, "upper": 0.1699999842981891 }, "observed": 0.1699999842981891, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/543e7b00b33c7de9db97cbda361380533a876bb602e4cd48f6356c06c9f4db92.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_position", "layout_id": "fresh-06", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.548138189400613e-10, "complete": false, "linear_speed_m_s": 8.407371002321903e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998429721178, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810560437672e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-06-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-06-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.787167, "baseline": 0.382667, "camera_observation": 13.862625, "fusion": 0.001583, "input_json_io": 1.076833, "png_io_decode": 5.100208, "processed_window": 21.211083 }, { "actuator_observation": 0.806417, "baseline": 0.385708, "camera_observation": 14.017625, "fusion": 0.001708, "input_json_io": 1.112875, "png_io_decode": 5.152, "processed_window": 21.476333 }, { "actuator_observation": 0.807667, "baseline": 0.390542, "camera_observation": 13.555, "fusion": 0.001791, "input_json_io": 1.098541, "png_io_decode": 5.322625, "processed_window": 21.176166 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6793929089749898e-09, "upper": 2.6793929089749898e-09 }, "observed": 2.6793929089749898e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153341103121e-10, "upper": 9.189153341103121e-10 }, "observed": 9.189153341103121e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941495, "upper": 0.29429999906941495 }, "observed": 0.29429999906941495, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418435704144e-07, "upper": 1.0857418435704144e-07 }, "observed": 1.0857418435704144e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037149, "upper": 1.5707963246037149 }, "observed": 1.5707963246037149, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/65e970ebfda9a06aa3fea0fb7e7630886e80c23fa5ea402d3c0af3fdcd73e936.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_orientation", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546864723494792e-10, "complete": false, "linear_speed_m_s": 8.406202720929996e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418435704144e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-06-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-06-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.780833, "baseline": 0.365291, "camera_observation": 14.635584, "fusion": 0.001583, "input_json_io": 1.199916, "png_io_decode": 4.977584, "processed_window": 21.960791 }, { "actuator_observation": 0.767875, "baseline": 0.364875, "camera_observation": 14.388334, "fusion": 0.001333, "input_json_io": 1.102042, "png_io_decode": 4.926416, "processed_window": 21.550875 }, { "actuator_observation": 0.759625, "baseline": 0.370375, "camera_observation": 14.639041, "fusion": 0.001417, "input_json_io": 1.067666, "png_io_decode": 5.030084, "processed_window": 21.868208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/2dc08bbabd42da97f2bf56895ae72b858ba058485de1c4296110fc410dbe2850.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-missing_target", "layout_id": "fresh-06", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-06-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-06-missing_target.json", "timing_ms": [ { "actuator_observation": 0.752792, "baseline": 0.207125, "camera_observation": 9.481042, "fusion": 0.001916, "input_json_io": 0.951917, "png_io_decode": 4.301666, "processed_window": 15.696458 }, { "actuator_observation": 0.772666, "baseline": 0.2095, "camera_observation": 9.940625, "fusion": 0.001667, "input_json_io": 0.938125, "png_io_decode": 4.811584, "processed_window": 16.674167 }, { "actuator_observation": 0.85275, "baseline": 0.21325, "camera_observation": 10.844291, "fusion": 0.001709, "input_json_io": 0.973291, "png_io_decode": 4.287834, "processed_window": 17.173125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a1a6aaaa1920a7cb6f0921ba79111e0e7155cd68a9b528ca29bc1959e89c029a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-wrong_object", "layout_id": "fresh-06", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-06-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-06-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.886667, "baseline": 0.218625, "camera_observation": 10.602916, "fusion": 0.001792, "input_json_io": 0.981541, "png_io_decode": 5.104084, "processed_window": 17.795625 }, { "actuator_observation": 0.767625, "baseline": 0.219875, "camera_observation": 10.282958, "fusion": 0.001875, "input_json_io": 0.991875, "png_io_decode": 4.766042, "processed_window": 17.03025 }, { "actuator_observation": 0.768875, "baseline": 0.21725, "camera_observation": 10.137166, "fusion": 0.001709, "input_json_io": 0.969416, "png_io_decode": 4.678584, "processed_window": 16.773 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.040447617474724556, "jaw_gap_min_m": 0.03843319818990974, "maximum_abs_drive_effort_n": 0.7948812530826463, "maximum_abs_jaw_rate_m_s": 0.002082375055814668, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0020163295825484898, "upper": 0.0020163295825484898 }, "observed": 0.0020163295825484898, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00015195627911284316, "upper": 0.00015195627911284316 }, "observed": 0.00015195627911284316, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7781425185699109, "upper": 0.7781425185699109 }, "observed": 0.7781425185699109, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.30213783748588874, "upper": 0.30213783748588874 }, "observed": 0.30213783748588874, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0059769838211210366, "upper": 0.0059769838211210366 }, "observed": 0.0059769838211210366, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.09995916427786608, "upper": 0.09995916427786608 }, "observed": 0.09995916427786608, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.1887930516138745 ], "displacement_interval_m": [ 0.0, 0.08377586103226826 ], "displacement_m": 2.5861032268256076e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187947279798451 ], "displacement_interval_m": [ 0.0, 0.08375894559595981 ], "displacement_m": 8.945595959799424e-06, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.1882494881072985 ], "displacement_interval_m": [ 0.0, 0.08376498976213674 ], "displacement_m": 1.4989762136731985e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187994832358749 ], "displacement_interval_m": [ 0.0, 0.08375989664716575 ], "displacement_m": 9.896647165740156e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188446109892032 ], "displacement_interval_m": [ 0.0, 0.08376892219783143 ], "displacement_m": 1.892219783141947e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41888377791624054 ], "net_displacement_interval_m": [ 0.0, 0.08377675558323888 ], "net_displacement_m": 2.6755583238878414e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323580067955872, 0.17990297464168736 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897228835978839, -0.07920886243386013 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17148926203213177, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323114311674458, 0.17990104370419963 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970932077867143, -0.07921524545069596 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4726, "yaw_axis_rad": 0.1716071532724519, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432336950694989, 0.17990122603919806 ], "candidate_pixels": 4727, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38971876983287523, -0.07921818806854011 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4727, "yaw_axis_rad": 0.17152555987473095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-unreleased", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-06-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-06-unreleased.json", "timing_ms": [ { "actuator_observation": 0.762917, "baseline": 0.366541, "camera_observation": 13.354875, "fusion": 0.001625, "input_json_io": 1.009292, "png_io_decode": 5.67225, "processed_window": 21.1675 }, { "actuator_observation": 0.797584, "baseline": 0.375708, "camera_observation": 13.110625, "fusion": 0.001625, "input_json_io": 1.025166, "png_io_decode": 5.665167, "processed_window": 20.975875 }, { "actuator_observation": 0.746666, "baseline": 0.385708, "camera_observation": 12.936459, "fusion": 0.001584, "input_json_io": 1.094834, "png_io_decode": 6.057458, "processed_window": 21.222709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16578725878636244, "upper": 0.16578725878636244 }, "observed": 0.16578725878636244, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6498233847836511, "upper": 0.6498233847836511 }, "observed": 0.6498233847836511, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0584458010194944, "upper": 0.0584458010194944 }, "observed": 0.0584458010194944, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603133424814433, "upper": 0.12603133424814433 }, "observed": 0.12603133424814433, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.351710656281868e-05, "upper": 1.351710656281868e-05 }, "observed": 1.351710656281868e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04355048039267187, 0.14371570190469535 ], "candidate_pixels": 3619, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4211607142857141, -0.08287389472229655 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3864, "yaw_axis_rad": 0.0447425526860723, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04342086254698112, 0.155500522949226 ], "candidate_pixels": 3968, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42781628024193535, -0.08328440020160954 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4091, "yaw_axis_rad": 0.04523520012368287, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04332025257047739, 0.16767342937110824 ], "candidate_pixels": 4296, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4345347416201116, -0.08370257216014533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4314, "yaw_axis_rad": 0.04613630292123183, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043173051374682275, 0.18018145786522533 ], "candidate_pixels": 4595, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4419318552774754, -0.08411955930358737 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4598, "yaw_axis_rad": 0.049299746472533545, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042960610653469566, 0.19204649332010695 ], "candidate_pixels": 4847, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4498105787084793, -0.08451735609655163 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4850, "yaw_axis_rad": 0.05302412384063615, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04287141609245539, 0.20323893910477503 ], "candidate_pixels": 5050, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45847846534653464, -0.08487227722771974 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5053, "yaw_axis_rad": 0.05675332281622758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428610775365524, 0.20569297669651512 ], "candidate_pixels": 5145, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4691976433430513, -0.0851065354713283 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5148, "yaw_axis_rad": 0.060666009901429785, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284187910543352, 0.20621187242605066 ], "candidate_pixels": 5204, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4805101844734818, -0.08525413143735278 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5207, "yaw_axis_rad": 0.06323823043679377, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286783270361025, 0.20782110632965653 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49220242644249157, -0.08533076996560636 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 0.06446093634925809, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042799986967337895, 0.20773977767783103 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5043812094000766, -0.08533268055024527 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 0.06473116162949921, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-sustained_motion", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-06-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-06-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.809791, "baseline": 0.375875, "camera_observation": 13.415792, "fusion": 0.001709, "input_json_io": 1.103375, "png_io_decode": 5.713125, "processed_window": 21.419667 }, { "actuator_observation": 0.788708, "baseline": 0.385625, "camera_observation": 13.712667, "fusion": 0.001834, "input_json_io": 1.110083, "png_io_decode": 5.229625, "processed_window": 21.228542 }, { "actuator_observation": 0.766333, "baseline": 0.401875, "camera_observation": 13.415, "fusion": 0.001708, "input_json_io": 1.104041, "png_io_decode": 5.435709, "processed_window": 21.124666 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-instant_alias", "layout_id": "fresh-06", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-06-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-06-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.7665, "baseline": 0.377708, "camera_observation": 13.824709, "fusion": 0.001625, "input_json_io": 1.102458, "png_io_decode": 4.689375, "processed_window": 20.762375 }, { "actuator_observation": 0.809292, "baseline": 0.36575, "camera_observation": 13.848291, "fusion": 0.001625, "input_json_io": 1.104834, "png_io_decode": 4.634875, "processed_window": 20.764667 }, { "actuator_observation": 0.75225, "baseline": 0.400209, "camera_observation": 14.042541, "fusion": 0.001459, "input_json_io": 1.111667, "png_io_decode": 5.045541, "processed_window": 21.353667 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6794511656443915e-09, "upper": 2.6794511656443915e-09 }, "observed": 2.6794511656443915e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153236693527e-10, "upper": 9.189153236693527e-10 }, "observed": 9.189153236693527e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941545, "upper": 0.29429999906941545 }, "observed": 0.29429999906941545, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418419965154e-07, "upper": 1.0857418419965154e-07 }, "observed": 1.0857418419965154e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.1415926513986117, "upper": 3.1415926513986117 }, "observed": 3.1415926513986117, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/95c7f03fb7f8e63f2bb8033f26c937b07c72731d771fda149380a7ccc6b17092.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-yaw_flip180", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546934599004083e-10, "complete": false, "linear_speed_m_s": 8.406301412864975e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418419965155e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986117 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-06-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-06-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.7755, "baseline": 0.398792, "camera_observation": 13.967708, "fusion": 0.001708, "input_json_io": 1.148417, "png_io_decode": 5.183125, "processed_window": 21.47525 }, { "actuator_observation": 0.792916, "baseline": 0.379083, "camera_observation": 13.953834, "fusion": 0.001667, "input_json_io": 1.081625, "png_io_decode": 4.796167, "processed_window": 21.005292 }, { "actuator_observation": 0.785916, "baseline": 0.383167, "camera_observation": 13.546792, "fusion": 0.001625, "input_json_io": 1.113584, "png_io_decode": 5.038916, "processed_window": 20.87 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-lookalike_wrongobject", "layout_id": "fresh-06", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-06-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-06-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.81775, "baseline": 0.227, "camera_observation": 14.529625, "fusion": 0.001875, "input_json_io": 0.965, "png_io_decode": 4.848334, "processed_window": 21.389584 }, { "actuator_observation": 0.839167, "baseline": 0.228667, "camera_observation": 14.481291, "fusion": 0.00175, "input_json_io": 1.023834, "png_io_decode": 4.853333, "processed_window": 21.428042 }, { "actuator_observation": 0.842292, "baseline": 0.244417, "camera_observation": 15.492, "fusion": 0.001875, "input_json_io": 1.044792, "png_io_decode": 8.625208, "processed_window": 26.250584 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.67939485622908e-09, "upper": 2.67939485622908e-09 }, "observed": 2.67939485622908e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189151825438461e-10, "upper": 9.189151825438461e-10 }, "observed": 9.189151825438461e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418406233275e-07, "upper": 1.0857418406233275e-07 }, "observed": 1.0857418406233275e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a922ff2407b84bf50f6bcbcd6f9314b3229e3a13a123d27ae3af03c957615d9b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "native-fresh-06-elevated_support", "layout_id": "fresh-06", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54680563708664e-10, "complete": false, "linear_speed_m_s": 8.406143094976067e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418406233275e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911821385112162e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-06-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-06-elevated_support.json", "timing_ms": [ { "actuator_observation": 1.107084, "baseline": 0.444833, "camera_observation": 18.96225, "fusion": 0.002875, "input_json_io": 1.572791, "png_io_decode": 6.491542, "processed_window": 28.581375 }, { "actuator_observation": 1.032083, "baseline": 0.46775, "camera_observation": 16.473167, "fusion": 0.003333, "input_json_io": 1.667834, "png_io_decode": 6.111958, "processed_window": 25.756125 }, { "actuator_observation": 0.840584, "baseline": 0.424833, "camera_observation": 14.751375, "fusion": 0.002208, "input_json_io": 1.253625, "png_io_decode": 5.431208, "processed_window": 22.703833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-complete", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.8435, "baseline": 0.40925, "camera_observation": 15.013958, "fusion": 0.011208, "input_json_io": 1.241167, "png_io_decode": 5.7175, "processed_window": 23.236583 }, { "actuator_observation": 0.8445, "baseline": 0.409584, "camera_observation": 15.082583, "fusion": 0.011667, "input_json_io": 1.21875, "png_io_decode": 5.189458, "processed_window": 22.756542 }, { "actuator_observation": 1.051541, "baseline": 0.410834, "camera_observation": 15.21275, "fusion": 0.01175, "input_json_io": 1.201084, "png_io_decode": 5.766666, "processed_window": 23.654625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-07-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f2c0b74f80f43b6a0e8e6ca6493d321ca84063154f7b5f652c035c066ac0fe07.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-occluded", "layout_id": "fresh-07", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-07-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-07-occluded.json", "timing_ms": [ { "actuator_observation": 0.84, "baseline": 0.404167, "camera_observation": 10.5215, "fusion": 0.003125, "input_json_io": 1.21075, "png_io_decode": 3.832875, "processed_window": 16.812417 }, { "actuator_observation": 0.900916, "baseline": 0.406084, "camera_observation": 10.80675, "fusion": 0.003625, "input_json_io": 1.209375, "png_io_decode": 4.251833, "processed_window": 17.578583 }, { "actuator_observation": 0.832125, "baseline": 0.408625, "camera_observation": 10.573375, "fusion": 0.003417, "input_json_io": 1.210375, "png_io_decode": 4.006375, "processed_window": 17.034292 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6792432497333783e-09, "upper": 2.6792432497333783e-09 }, "observed": 2.6792432497333783e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153558391023e-10, "upper": 9.189153558391023e-10 }, "observed": 9.189153558391023e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941534, "upper": 0.29429999906941534 }, "observed": 0.29429999906941534, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.1699999680657037, "upper": 0.1699999680657037 }, "observed": 0.1699999680657037, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f0d87064efe040a6b37638851e07451dd2f2f3983cb52d901ea63ed5f7ff2a04.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_position", "layout_id": "fresh-07", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546452315141569e-10, "complete": false, "linear_speed_m_s": 8.405762505522344e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996806381232, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911826242337895e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-07-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-07-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.916541, "baseline": 0.405417, "camera_observation": 14.33125, "fusion": 0.002625, "input_json_io": 1.249166, "png_io_decode": 5.559042, "processed_window": 22.464041 }, { "actuator_observation": 0.845666, "baseline": 0.411834, "camera_observation": 14.971, "fusion": 0.001834, "input_json_io": 1.392125, "png_io_decode": 5.402208, "processed_window": 23.024667 }, { "actuator_observation": 0.836958, "baseline": 0.4175, "camera_observation": 14.596584, "fusion": 0.001708, "input_json_io": 1.214833, "png_io_decode": 5.25675, "processed_window": 22.324333 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679126517580239e-09, "upper": 2.679126517580239e-09 }, "observed": 2.679126517580239e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153630692426e-10, "upper": 9.189153630692426e-10 }, "observed": 9.189153630692426e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694149, "upper": 0.2942999990694149 }, "observed": 0.2942999990694149, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418346656895e-07, "upper": 1.0857418346656895e-07 }, "observed": 1.0857418346656895e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037153, "upper": 1.5707963246037153 }, "observed": 1.5707963246037153, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/5ca2c885817be19f4d3fc90110b00b098d6960bae35cd6c0f8977c5da0c46fcc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_orientation", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545687918402713e-10, "complete": false, "linear_speed_m_s": 8.405115277989858e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418346656895e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037153 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-07-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-07-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.85775, "baseline": 0.405084, "camera_observation": 15.139166, "fusion": 0.001792, "input_json_io": 1.162042, "png_io_decode": 5.342416, "processed_window": 22.90825 }, { "actuator_observation": 0.89125, "baseline": 0.415416, "camera_observation": 14.811209, "fusion": 0.002291, "input_json_io": 1.237166, "png_io_decode": 5.628209, "processed_window": 22.985541 }, { "actuator_observation": 0.853333, "baseline": 0.407917, "camera_observation": 14.796208, "fusion": 0.001792, "input_json_io": 1.180875, "png_io_decode": 5.251583, "processed_window": 22.491708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-07-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/dade033929d82c36c8f29022876bcd0ec3aceb3a45c1e4cd069441a2dad8b3aa.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-missing_target", "layout_id": "fresh-07", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-07-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-07-missing_target.json", "timing_ms": [ { "actuator_observation": 3.497666, "baseline": 0.235875, "camera_observation": 10.986459, "fusion": 0.002417, "input_json_io": 1.056458, "png_io_decode": 5.183333, "processed_window": 20.962208 }, { "actuator_observation": 0.838375, "baseline": 0.238667, "camera_observation": 10.600083, "fusion": 0.001875, "input_json_io": 1.042167, "png_io_decode": 5.447166, "processed_window": 18.168333 }, { "actuator_observation": 0.831292, "baseline": 0.2365, "camera_observation": 10.3525, "fusion": 0.001917, "input_json_io": 0.995, "png_io_decode": 4.703708, "processed_window": 17.120917 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-07-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/45299cea09da246e8b79163dcf82fcae45de1b1c08f8bdcdb0a15f9e9db6b4a5.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-wrong_object", "layout_id": "fresh-07", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-07-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-07-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.8215, "baseline": 0.231167, "camera_observation": 10.608458, "fusion": 0.001625, "input_json_io": 1.012375, "png_io_decode": 4.780208, "processed_window": 17.455333 }, { "actuator_observation": 0.827792, "baseline": 0.235375, "camera_observation": 10.850208, "fusion": 0.001625, "input_json_io": 0.996833, "png_io_decode": 4.94275, "processed_window": 17.854583 }, { "actuator_observation": 0.851958, "baseline": 0.240208, "camera_observation": 10.865167, "fusion": 0.001833, "input_json_io": 1.0155, "png_io_decode": 5.275875, "processed_window": 18.250541 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008253089429942, "jaw_gap_min_m": 0.03807962208093761, "maximum_abs_drive_effort_n": 0.7887748019052442, "maximum_abs_jaw_rate_m_s": 0.0020201493421171924, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0040326240589585016, "upper": 0.0040326240589585016 }, "observed": 0.0040326240589585016, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00010775685730719346, "upper": 0.00010775685730719346 }, "observed": 0.00010775685730719346, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7872526373093375, "upper": 0.7872526373093375 }, "observed": 0.7872526373093375, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2663960832825247, "upper": 0.2663960832825247 }, "observed": 0.2663960832825247, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0007253495416552627, "upper": 0.0007253495416552627 }, "observed": 0.0007253495416552627, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.004181868253892482, "upper": 0.004181868253892482 }, "observed": 0.004181868253892482, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187743733377884 ], "displacement_interval_m": [ 0.0, 0.08375487466754845 ], "displacement_m": 4.874667548448045e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188534473394202 ], "displacement_interval_m": [ 0.0, 0.08377068946787482 ], "displacement_m": 2.06894678748143e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.1878896209855645 ], "displacement_interval_m": [ 0.0, 0.08375779241970206 ], "displacement_m": 7.792419702054158e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188377023311563 ], "displacement_interval_m": [ 0.0, 0.08376754046622205 ], "displacement_m": 1.7540466222048548e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188475680020612 ], "displacement_interval_m": [ 0.0, 0.08376951360040301 ], "displacement_m": 1.9513600403008175e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188808175363855 ], "displacement_interval_m": [ 0.0, 0.08377616350726787 ], "displacement_m": 2.6163507267869118e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188002133334461 ], "displacement_interval_m": [ 0.0, 0.08376004266668 ], "displacement_m": 1.0042666679995106e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188293025696816 ], "displacement_interval_m": [ 0.0, 0.08376586051392709 ], "displacement_m": 1.5860513927092906e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18808680066966 ], "displacement_interval_m": [ 0.0, 0.08376173601338396 ], "displacement_m": 1.173601338395495e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41912249125839895 ], "net_displacement_interval_m": [ 0.0, 0.08382449825167056 ], "net_displacement_m": 7.449825167054491e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04315640813117124, 0.1777176009248057 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41644404812606484, -0.09850750638841789 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842968128410501, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311380849494916, 0.17771800290157247 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164439563365283, -0.0985123801916955 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09842577218794801, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311303787250466, 0.1777385120591813 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41646454429301544, -0.09851442717206353 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842637101279461, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043100719984072, 0.17773970887135 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164634795570699, -0.09852214650766832 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09866101657816717, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310858363763398, 0.1777405480458698 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164801650692227, -0.09852755591054536 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09852804769020818, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311595084796097, 0.17765472184837627 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649898806987656, -0.09853270132083734 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09839752620384434, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04312731699388913, 0.17766272689060028 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41652280477408365, -0.09854353154305426 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.0981848142054993, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311622350326236, 0.17766457852370462 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41651907502131297, -0.09855285592498096 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4692, "yaw_axis_rad": -0.09807910194236236, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313402171851085, 0.17773954854503432 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41650484661269715, -0.098559863655733 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09798976261852488, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-unreleased", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-07-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-07-unreleased.json", "timing_ms": [ { "actuator_observation": 0.8345, "baseline": 0.411, "camera_observation": 14.455083, "fusion": 0.001708, "input_json_io": 1.282792, "png_io_decode": 5.799542, "processed_window": 22.784625 }, { "actuator_observation": 0.866917, "baseline": 0.403958, "camera_observation": 15.06575, "fusion": 0.001833, "input_json_io": 1.162708, "png_io_decode": 5.956042, "processed_window": 23.457208 }, { "actuator_observation": 0.878209, "baseline": 0.429458, "camera_observation": 15.246458, "fusion": 0.002125, "input_json_io": 1.17825, "png_io_decode": 6.288917, "processed_window": 24.023417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16524119066813406, "upper": 0.16524119066813406 }, "observed": 0.16524119066813406, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6505734519828964, "upper": 0.6505734519828964 }, "observed": 0.6505734519828964, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05853838719640629, "upper": 0.05853838719640629 }, "observed": 0.05853838719640629, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603356426288764, "upper": 0.12603356426288764 }, "observed": 0.12603356426288764, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 8.790735239058713e-06, "upper": 8.790735239058713e-06 }, "observed": 8.790735239058713e-06, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.535678420986 ], "displacement_interval_m": [ 0.0, 0.09071356841972007 ], "displacement_m": 0.006963568419720065, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.556421871750488 ], "displacement_interval_m": [ 0.0, 0.09112843743500984 ], "displacement_m": 0.007378437435009842, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.5811935953486405 ], "displacement_interval_m": [ 0.0, 0.0916238719069729 ], "displacement_m": 0.007873871906972894, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.612397366302417 ], "displacement_interval_m": [ 0.0, 0.09224794732604842 ], "displacement_m": 0.008497947326048421, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.73140383009608 ], "displacement_interval_m": [ 0.0, 0.09462807660192168 ], "displacement_m": 0.010878076601921676, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.77571405038924 ], "displacement_interval_m": [ 0.0, 0.09551428100778489 ], "displacement_m": 0.011764281007784885, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.799777248259885 ], "displacement_interval_m": [ 0.0, 0.0959955449651978 ], "displacement_m": 0.0122455449651978, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.807099015873475 ], "displacement_interval_m": [ 0.0, 0.09614198031746958 ], "displacement_m": 0.012391980317469575, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.808505851467844 ], "displacement_interval_m": [ 0.0, 0.09617011702935697 ], "displacement_m": 0.012420117029356968, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.802759276290594 ], "displacement_interval_m": [ 0.0, 0.09605518552581196 ], "displacement_m": 0.01230518552581196, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.09472763505279472, 0.932227635052794 ], "net_displacement_interval_m": [ 0.01894552701055896, 0.18644552701055897 ], "net_displacement_m": 0.10269552701055897, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043496919033981986, 0.1701744702932047 ], "candidate_pixels": 4313, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4355122594481797, -0.09936282749826521 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4317, "yaw_axis_rad": -0.10840400352476909, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0433142828079745, 0.18245870641069967 ], "candidate_pixels": 4614, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4428811768530559, -0.0989881339401848 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4617, "yaw_axis_rad": -0.1034893774401695, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432372363150574, 0.19469332906370268 ], "candidate_pixels": 4888, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.450748261047463, -0.09866126227496044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4891, "yaw_axis_rad": -0.09895052053176911, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04302112251200977, 0.20574375192372996 ], "candidate_pixels": 5095, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45924251717369974, -0.09841081943081541 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5098, "yaw_axis_rad": -0.0944702258674539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430028880624837, 0.20792612366171653 ], "candidate_pixels": 5186, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47012051677593497, -0.09836989008870087 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5189, "yaw_axis_rad": -0.09060115453934792, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295069527952984, 0.20775083828499386 ], "candidate_pixels": 5231, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48188479736188083, -0.09837304052762391 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5234, "yaw_axis_rad": -0.0884109619315625, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042942701062432254, 0.20799778342640096 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49413034147272056, -0.09836846623426176 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08794022480032915, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294124667219527, 0.20788557600894766 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5065223197252958, -0.09836131247615414 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08768589461978316, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04293784868915855, 0.20779319718736664 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5189424360930944, -0.09836536627241511 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08778176314604735, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04299643127973191, 0.20780271765544925 ], "candidate_pixels": 5248, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5312476181402439, -0.09837461890243895 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5251, "yaw_axis_rad": -0.08791809276891716, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-sustained_motion", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-07-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-07-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.971167, "baseline": 0.45275, "camera_observation": 16.518917, "fusion": 0.002208, "input_json_io": 1.3695, "png_io_decode": 7.587375, "processed_window": 26.901917 }, { "actuator_observation": 0.90175, "baseline": 0.54025, "camera_observation": 15.378875, "fusion": 0.002041, "input_json_io": 1.305667, "png_io_decode": 5.916875, "processed_window": 24.045458 }, { "actuator_observation": 0.927959, "baseline": 0.448542, "camera_observation": 15.856291, "fusion": 0.002208, "input_json_io": 1.486709, "png_io_decode": 6.431958, "processed_window": 25.153667 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-instant_alias", "layout_id": "fresh-07", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-07-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-07-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.98, "baseline": 0.476625, "camera_observation": 17.839042, "fusion": 0.002083, "input_json_io": 1.672208, "png_io_decode": 6.09925, "processed_window": 27.069208 }, { "actuator_observation": 0.970542, "baseline": 0.58275, "camera_observation": 18.069625, "fusion": 0.002167, "input_json_io": 1.345459, "png_io_decode": 5.727666, "processed_window": 26.698209 }, { "actuator_observation": 1.050792, "baseline": 0.475208, "camera_observation": 27.852625, "fusion": 0.002666, "input_json_io": 1.506292, "png_io_decode": 6.4155, "processed_window": 37.303083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678996278804297e-09, "upper": 2.678996278804297e-09 }, "observed": 2.678996278804297e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153614906847e-10, "upper": 9.189153614906847e-10 }, "observed": 9.189153614906847e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418318903458e-07, "upper": 1.0857418318903458e-07 }, "observed": 1.0857418318903458e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.14159265139861, "upper": 3.14159265139861 }, "observed": 3.14159265139861, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/4c96576481bbda1a77cee247eed5890ca9ae3a374d0263f0824b54cc56128b96.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-yaw_flip180", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545481339570781e-10, "complete": false, "linear_speed_m_s": 8.404857103254578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418318903458e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-07-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-07-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 1.074, "baseline": 0.721291, "camera_observation": 18.766667, "fusion": 0.0025, "input_json_io": 1.530125, "png_io_decode": 7.788834, "processed_window": 29.883417 }, { "actuator_observation": 1.086959, "baseline": 0.538625, "camera_observation": 19.652458, "fusion": 0.002833, "input_json_io": 1.529208, "png_io_decode": 7.713125, "processed_window": 30.523208 }, { "actuator_observation": 1.097209, "baseline": 0.526916, "camera_observation": 19.178125, "fusion": 0.002416, "input_json_io": 1.808833, "png_io_decode": 7.304042, "processed_window": 29.917541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-lookalike_wrongobject", "layout_id": "fresh-07", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-07-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-07-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 1.281166, "baseline": 0.373791, "camera_observation": 25.625209, "fusion": 0.002917, "input_json_io": 2.20475, "png_io_decode": 8.521167, "processed_window": 38.009 }, { "actuator_observation": 1.199417, "baseline": 0.355042, "camera_observation": 22.666583, "fusion": 0.002625, "input_json_io": 1.587917, "png_io_decode": 8.250041, "processed_window": 34.061625 }, { "actuator_observation": 1.226292, "baseline": 0.349792, "camera_observation": 22.820333, "fusion": 0.003083, "input_json_io": 1.521292, "png_io_decode": 7.424625, "processed_window": 33.345417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6793198322397872e-09, "upper": 2.6793198322397872e-09 }, "observed": 2.6793198322397872e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189155571200858e-10, "upper": 9.189155571200858e-10 }, "observed": 9.189155571200858e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418394507454e-07, "upper": 1.0857418394507454e-07 }, "observed": 1.0857418394507454e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/ea96468935076c02905593b5ac5571bbba19a2a7526394a1541b7ba802f44b56.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "native-fresh-07-elevated_support", "layout_id": "fresh-07", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546572397627967e-10, "complete": false, "linear_speed_m_s": 8.405910805239593e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418394507453e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182374433609e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-07-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-07-elevated_support.json", "timing_ms": [ { "actuator_observation": 1.213542, "baseline": 0.587541, "camera_observation": 22.332792, "fusion": 0.002666, "input_json_io": 1.704333, "png_io_decode": 8.396917, "processed_window": 34.237791 }, { "actuator_observation": 1.225292, "baseline": 0.594625, "camera_observation": 22.54525, "fusion": 0.002917, "input_json_io": 1.791875, "png_io_decode": 8.693916, "processed_window": 34.853875 }, { "actuator_observation": 1.3475, "baseline": 0.622041, "camera_observation": 26.391584, "fusion": 0.005041, "input_json_io": 1.747875, "png_io_decode": 8.361875, "processed_window": 38.475916 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-complete", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "None after the declared authored reset and 600 ms settling.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "complete", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 1.874083, "baseline": 0.824125, "camera_observation": 27.069833, "fusion": 0.021959, "input_json_io": 1.851334, "png_io_decode": 10.23525, "processed_window": 41.876584 }, { "actuator_observation": 1.235792, "baseline": 0.584917, "camera_observation": 22.76625, "fusion": 0.017541, "input_json_io": 3.263917, "png_io_decode": 8.771041, "processed_window": 36.639458 }, { "actuator_observation": 1.872375, "baseline": 0.60275, "camera_observation": 22.3165, "fusion": 0.021959, "input_json_io": 2.541542, "png_io_decode": 8.563416, "processed_window": 35.918542 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-occluded-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 2, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-08-occluded-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/991875b9ffbc45b15101216ac6871dd0f5b04f5bf99d4b9b5eafc1c606414457.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-occluded", "layout_id": "fresh-08", "note": "Fixed opaque inspection cover hides the otherwise settled target.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Fixed opaque inspection cover hides the otherwise settled target.", "primary_packet_file": "packets/native-fresh-08-occluded-primary.json", "scenario": "occluded", "state_file": "states/native-fresh-08-occluded.json", "timing_ms": [ { "actuator_observation": 1.367125, "baseline": 0.704708, "camera_observation": 19.303042, "fusion": 0.006417, "input_json_io": 2.348458, "png_io_decode": 6.89725, "processed_window": 30.627 }, { "actuator_observation": 1.557083, "baseline": 0.625416, "camera_observation": 15.904834, "fusion": 0.00575, "input_json_io": 1.79125, "png_io_decode": 8.603292, "processed_window": 28.487625 }, { "actuator_observation": 1.886375, "baseline": 0.594917, "camera_observation": 17.188583, "fusion": 0.007167, "input_json_io": 1.898375, "png_io_decode": 6.1565, "processed_window": 27.731917 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679128458846813e-09, "upper": 2.679128458846813e-09 }, "observed": 2.679128458846813e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153476208149e-10, "upper": 9.189153476208149e-10 }, "observed": 9.189153476208149e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16999998103130556, "upper": 0.16999998103130556 }, "observed": 0.16999998103130556, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-wrong_position-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/5c7a5235bc7a3154573f648d77ffe4814064af351b9414755ed6002e6a05544f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_position", "layout_id": "fresh-08", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545753822341206e-10, "complete": false, "linear_speed_m_s": 8.405144723544146e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998103014372, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911830475063176e-09 }, "prescribed_intervention": "Authored initial target position is displaced 170 mm along world X.", "primary_packet_file": "packets/native-fresh-08-wrong_position-primary.json", "scenario": "wrong_position", "state_file": "states/native-fresh-08-wrong_position.json", "timing_ms": [ { "actuator_observation": 1.2995, "baseline": 0.601708, "camera_observation": 23.965792, "fusion": 0.0035, "input_json_io": 2.051542, "png_io_decode": 9.353333, "processed_window": 37.275375 }, { "actuator_observation": 1.202916, "baseline": 0.592917, "camera_observation": 22.114792, "fusion": 0.002875, "input_json_io": 1.831917, "png_io_decode": 8.323541, "processed_window": 34.068958 }, { "actuator_observation": 1.264875, "baseline": 0.599708, "camera_observation": 22.494167, "fusion": 0.002833, "input_json_io": 1.678417, "png_io_decode": 8.207042, "processed_window": 34.247042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679125038442571e-09, "upper": 2.679125038442571e-09 }, "observed": 2.679125038442571e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153430309693e-10, "upper": 9.189153430309693e-10 }, "observed": 9.189153430309693e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941495, "upper": 0.29429999906941495 }, "observed": 0.29429999906941495, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418322845445e-07, "upper": 1.0857418322845445e-07 }, "observed": 1.0857418322845445e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.5707963246037158, "upper": 1.5707963246037158 }, "observed": 1.5707963246037158, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-wrong_orientation-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/551b60ecd885f73d6c56355c56fe86c7cdee8fa6bf39545662456c652cda56a1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_orientation", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54599920050319e-10, "complete": false, "linear_speed_m_s": 8.405333880657776e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418322845445e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Authored initial target yaw is rotated 90 degrees.", "primary_packet_file": "packets/native-fresh-08-wrong_orientation-primary.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-08-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 1.250375, "baseline": 0.593833, "camera_observation": 24.022917, "fusion": 0.00325, "input_json_io": 1.678417, "png_io_decode": 8.312375, "processed_window": 35.861167 }, { "actuator_observation": 1.213583, "baseline": 0.590042, "camera_observation": 25.871083, "fusion": 0.002709, "input_json_io": 1.740958, "png_io_decode": 9.18525, "processed_window": 38.603625 }, { "actuator_observation": 1.200292, "baseline": 1.148167, "camera_observation": 24.083208, "fusion": 0.002958, "input_json_io": 1.79225, "png_io_decode": 10.967833, "processed_window": 39.194708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-08-missing_target-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/cc799d4024179ccf8183bd7a955f8b5e396b733a1a222a1e628f7176457292c1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-missing_target", "layout_id": "fresh-08", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "The target body is absent from the model.", "primary_packet_file": "packets/native-fresh-08-missing_target-primary.json", "scenario": "missing_target", "state_file": "states/native-fresh-08-missing_target.json", "timing_ms": [ { "actuator_observation": 1.253875, "baseline": 0.412542, "camera_observation": 16.234833, "fusion": 0.002792, "input_json_io": 1.961959, "png_io_decode": 10.680541, "processed_window": 30.546542 }, { "actuator_observation": 1.195875, "baseline": 0.341042, "camera_observation": 15.199458, "fusion": 0.003375, "input_json_io": 1.507125, "png_io_decode": 7.275166, "processed_window": 25.522041 }, { "actuator_observation": 1.203542, "baseline": 0.350625, "camera_observation": 15.988583, "fusion": 0.003083, "input_json_io": 1.726542, "png_io_decode": 6.791375, "processed_window": 26.06375 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-08-wrong_object-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/15643bca6e60b17f443cbbab9488310862830ac291cc09099f3e2d80e1022760.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-wrong_object", "layout_id": "fresh-08", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "An orange decoy replaces the target body.", "primary_packet_file": "packets/native-fresh-08-wrong_object-primary.json", "scenario": "wrong_object", "state_file": "states/native-fresh-08-wrong_object.json", "timing_ms": [ { "actuator_observation": 1.20675, "baseline": 0.392417, "camera_observation": 16.401458, "fusion": 0.002625, "input_json_io": 1.80625, "png_io_decode": 9.233083, "processed_window": 29.042583 }, { "actuator_observation": 1.200083, "baseline": 0.344667, "camera_observation": 15.302083, "fusion": 0.003125, "input_json_io": 1.510875, "png_io_decode": 8.208167, "processed_window": 26.569 }, { "actuator_observation": 1.386917, "baseline": 0.360208, "camera_observation": 14.774625, "fusion": 0.003375, "input_json_io": 1.534, "png_io_decode": 8.107875, "processed_window": 26.167 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04002915384674963, "jaw_gap_min_m": 0.03802118517362148, "maximum_abs_drive_effort_n": 0.7865792562834752, "maximum_abs_jaw_rate_m_s": 0.002040879087356306, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.000606564242876513, "upper": 0.000606564242876513 }, "observed": 0.000606564242876513, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.00015212524939795113, "upper": 0.00015212524939795113 }, "observed": 0.00015212524939795113, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.7619358362879435, "upper": 0.7619358362879435 }, "observed": 0.7619358362879435, "operator": "le", "reason": "robot_contact_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.32697815290633797, "upper": 0.32697815290633797 }, "observed": 0.32697815290633797, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0006053834842538155, "upper": 0.0006053834842538155 }, "observed": 0.0006053834842538155, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0008726486968867117, "upper": 0.0008726486968867117 }, "observed": 0.0008726486968867117, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "robot_contact_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.19999999999997797, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999473, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187745991255755 ], "displacement_interval_m": [ 0.0, 0.08375491982510588 ], "displacement_m": 4.919825105875859e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188420991109927 ], "displacement_interval_m": [ 0.0, 0.08376841982218933 ], "displacement_m": 1.8419822189327096e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188162385381834 ], "displacement_interval_m": [ 0.0, 0.08376324770762746 ], "displacement_m": 1.324770762745092e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188428043768457 ], "displacement_interval_m": [ 0.0, 0.08376856087535993 ], "displacement_m": 1.8560875359924583e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188354276602227 ], "displacement_interval_m": [ 0.0, 0.08376708553203531 ], "displacement_m": 1.708553203530504e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18823447771589 ], "displacement_interval_m": [ 0.0, 0.08376468955430859 ], "displacement_m": 1.4689554308590217e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.189235549175519 ], "displacement_interval_m": [ 0.0, 0.08378471098350115 ], "displacement_m": 3.471098350114321e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41902135612517316 ], "net_displacement_interval_m": [ 0.0, 0.0838042712250254 ], "net_displacement_m": 5.427122502539241e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04348946891605229, 0.1769815567290806 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865316374519025, -0.15357978837109645 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03712024210454912, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043455905701879, 0.1769825764423149 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865312967714346, -0.15358469638657027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4677, "yaw_axis_rad": 0.03711490705873288, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04345342899235724, 0.1769830405393022 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38651293287729793, -0.15358326207780873 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03703421097009496, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341663772762157, 0.1769857276743698 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38652121633176556, -0.15360036340316138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03687821750158049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0434551974771209, 0.17698056902258885 ], "candidate_pixels": 4679, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865271692669372, -0.1536136193631094 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4679, "yaw_axis_rad": 0.03712370927014641, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04349049110649704, 0.17702003054732762 ], "candidate_pixels": 4682, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3864926847501066, -0.1536175779581352 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4682, "yaw_axis_rad": 0.03738093392885711, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "robot_contact_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-unreleased", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "primary_packet_file": "packets/native-fresh-08-unreleased-primary.json", "scenario": "unreleased", "state_file": "states/native-fresh-08-unreleased.json", "timing_ms": [ { "actuator_observation": 1.204625, "baseline": 0.58325, "camera_observation": 21.730041, "fusion": 0.002667, "input_json_io": 1.714583, "png_io_decode": 8.515709, "processed_window": 33.750875 }, { "actuator_observation": 1.100667, "baseline": 0.550041, "camera_observation": 19.572167, "fusion": 0.002541, "input_json_io": 1.82375, "png_io_decode": 8.88325, "processed_window": 31.932416 }, { "actuator_observation": 1.084584, "baseline": 0.54825, "camera_observation": 18.01775, "fusion": 0.002625, "input_json_io": 1.534, "png_io_decode": 11.804333, "processed_window": 32.991542 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.16568011617489836, "upper": 0.16568011617489836 }, "observed": 0.16568011617489836, "operator": "le", "reason": "angular_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.6499796358649694, "upper": 0.6499796358649694 }, "observed": 0.6499796358649694, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.05846505289995292, "upper": 0.05846505289995292 }, "observed": 0.05846505289995292, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12603134975361285, "upper": 0.12603134975361285 }, "observed": 0.12603134975361285, "operator": "le", "reason": "position_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.1396510634066605e-05, "upper": 1.1396510634066605e-05 }, "observed": 1.1396510634066605e-05, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.834819830056245 ], "displacement_interval_m": [ 0.0, 0.09669639660112497 ], "displacement_m": 0.012946396601124975, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.8281054404409804 ], "displacement_interval_m": [ 0.0, 0.0965621088088197 ], "displacement_m": 0.01281210880881969, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.826241155695609 ], "displacement_interval_m": [ 0.0, 0.09652482311391226 ], "displacement_m": 0.012774823113912264, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.824170721949712 ], "displacement_interval_m": [ 0.0, 0.09648341443899433 ], "displacement_m": 0.012733414438994324, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8176776499667575 ], "displacement_interval_m": [ 0.0, 0.09635355299933523 ], "displacement_m": 0.012603552999335231, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.816965671451319 ], "displacement_interval_m": [ 0.0, 0.09633931342902646 ], "displacement_m": 0.012589313429026453, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.811167174863893 ], "displacement_interval_m": [ 0.0, 0.09622334349727794 ], "displacement_m": 0.012473343497277934, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.809301935997449 ], "displacement_interval_m": [ 0.0, 0.09618603871994906 ], "displacement_m": 0.01243603871994905, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8037217457370325 ], "displacement_interval_m": [ 0.0, 0.09607443491474073 ], "displacement_m": 0.012324434914740723, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.800740391080528 ], "displacement_interval_m": [ 0.0, 0.09601480782161065 ], "displacement_m": 0.012264807821610648, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.2110410361292302, 1.0485410361292296 ], "net_displacement_interval_m": [ 0.042208207225846076, 0.2097082072258461 ], "net_displacement_m": 0.12595820722584608, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04287440332560623, 0.2084295965581168 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38812903915605396, -0.15330913799657694 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 0.035700589495088586, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04285257894987024, 0.20759140639744078 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4009411302609029, -0.1533304370596061 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.035210446489621905, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042846891097767195, 0.20781158701686006 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41371595238095243, -0.1533354761904746 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.035072834437789524, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042848999973110286, 0.20781101085980308 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4264493667872785, -0.15333638830698756 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.03513050671728779, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042846878283348586, 0.2077230742064399 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4390529184917159, -0.15333067510950138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.035083119691849074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04285476055670306, 0.20805493943558812 ], "candidate_pixels": 5252, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4516422315308453, -0.15332754188880268 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5255, "yaw_axis_rad": 0.035265955105544755, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284748106758643, 0.20805578550152365 ], "candidate_pixels": 5252, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4641155750190405, -0.15332801789794206 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5255, "yaw_axis_rad": 0.03510586324145226, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042845934139146655, 0.20780900113658446 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4765516133637921, -0.1533310727203487 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": 0.03508136109474913, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284842896307663, 0.20785406010596139 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48887604741953916, -0.1533356741573018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034998322957116024, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852085502719815, 0.20780959761903647 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5011408541230241, -0.15334091125499746 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034860405903399005, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-sustained_motion-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "position_outside_goal", "linear_motion_in_window", "angular_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-sustained_motion", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "primary_packet_file": "packets/native-fresh-08-sustained_motion-primary.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-08-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.450875, "baseline": 0.535417, "camera_observation": 18.761042, "fusion": 0.002916, "input_json_io": 1.527875, "png_io_decode": 7.640416, "processed_window": 29.918541 }, { "actuator_observation": 1.066708, "baseline": 0.522458, "camera_observation": 18.707875, "fusion": 0.002709, "input_json_io": 1.578666, "png_io_decode": 8.352459, "processed_window": 30.230875 }, { "actuator_observation": 1.05825, "baseline": 0.578292, "camera_observation": 19.622166, "fusion": 0.002209, "input_json_io": 1.517917, "png_io_decode": 6.88275, "processed_window": 29.661584 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.12, "upper": 0.12 }, "observed": 0.12, "operator": "le", "reason": "linear_motion_in_window", "statistic": "max", "status": "fail", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "linear_motion_in_window" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-instant_alias-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "linear_motion_in_window" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-instant_alias", "layout_id": "fresh-08", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "primary_packet_file": "packets/native-fresh-08-instant_alias-primary.json", "scenario": "instant_alias", "state_file": "states/native-fresh-08-instant_alias.json", "timing_ms": [ { "actuator_observation": 1.065959, "baseline": 0.678875, "camera_observation": 19.378791, "fusion": 0.00225, "input_json_io": 1.520792, "png_io_decode": 7.188, "processed_window": 29.834667 }, { "actuator_observation": 1.582833, "baseline": 0.524209, "camera_observation": 19.2395, "fusion": 0.002958, "input_json_io": 1.804958, "png_io_decode": 6.747375, "processed_window": 29.901833 }, { "actuator_observation": 1.387542, "baseline": 0.535375, "camera_observation": 20.07325, "fusion": 0.003375, "input_json_io": 1.654916, "png_io_decode": 8.028417, "processed_window": 31.682875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6793080463772472e-09, "upper": 2.6793080463772472e-09 }, "observed": 2.6793080463772472e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153546084419e-10, "upper": 9.189153546084419e-10 }, "observed": 9.189153546084419e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941545, "upper": 0.29429999906941545 }, "observed": 0.29429999906941545, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418404831403e-07, "upper": 1.0857418404831403e-07 }, "observed": 1.0857418404831403e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 3.141592651398611, "upper": 3.141592651398611 }, "observed": 3.141592651398611, "operator": "le", "reason": "yaw_outside_goal", "statistic": "max", "status": "fail", "threshold": 0.2617993877991494 } }, "reasons": [ "yaw_outside_goal" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-yaw_flip180-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/291367f3918e277dbd50197484069413e420c317e897297e74e75743d2955b12.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "yaw_outside_goal" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-yaw_flip180", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546739189346011e-10, "complete": false, "linear_speed_m_s": 8.406029660161011e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418404831404e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "primary_packet_file": "packets/native-fresh-08-yaw_flip180-primary.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-08-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 1.115792, "baseline": 0.523709, "camera_observation": 19.072208, "fusion": 0.003, "input_json_io": 1.507833, "png_io_decode": 7.548083, "processed_window": 29.770625 }, { "actuator_observation": 0.96125, "baseline": 0.5385, "camera_observation": 17.456458, "fusion": 0.002334, "input_json_io": 1.577125, "png_io_decode": 7.579042, "processed_window": 28.114709 }, { "actuator_observation": 1.185417, "baseline": 0.526167, "camera_observation": 18.545958, "fusion": 0.003125, "input_json_io": 1.37175, "png_io_decode": 7.0685, "processed_window": 28.700917 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "reason": "not_applicable_target_absent", "status": "unknown" }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "absent_samples": 100, "reason": "target_absent_in_window", "status": "fail" }, "release": { "reason": "not_applicable_target_absent", "status": "unknown" }, "schema": { "reason": "validated", "status": "pass" }, "support": { "reason": "not_applicable_target_absent", "status": "unknown" }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "reason": "not_applicable_target_absent", "status": "unknown" }, "yaw": { "reason": "not_applicable_target_absent", "status": "unknown" } }, "reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-lookalike_wrongobject-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "target_absent_in_window", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent", "not_applicable_target_absent" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-lookalike_wrongobject", "layout_id": "fresh-08", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "primary_packet_file": "packets/native-fresh-08-lookalike_wrongobject-primary.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-08-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.996959, "baseline": 0.31775, "camera_observation": 18.181, "fusion": 0.0025, "input_json_io": 1.278833, "png_io_decode": 8.493, "processed_window": 29.270042 }, { "actuator_observation": 1.096625, "baseline": 0.28975, "camera_observation": 17.039125, "fusion": 0.002958, "input_json_io": 1.277833, "png_io_decode": 6.586584, "processed_window": 26.292875 }, { "actuator_observation": 0.98925, "baseline": 0.307583, "camera_observation": 16.899125, "fusion": 0.002375, "input_json_io": 1.33375, "png_io_decode": 6.410084, "processed_window": 25.942167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789897076808778e-09, "upper": 2.6789897076808778e-09 }, "observed": 2.6789897076808778e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152657065525e-10, "upper": 9.189152657065525e-10 }, "observed": 9.189152657065525e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "gt", "reason": "insufficient_table_support", "statistic": "min", "status": "fail", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418320112581e-07, "upper": 1.0857418320112581e-07 }, "observed": 1.0857418320112581e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [ "insufficient_table_support" ], "schema": "dvidia.local-goal-verdict/v1", "verdict": "incomplete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-elevated_support-camera.json", "cohort": "native", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/37d23928bdfcc8df129b07a744bb2e08313b9d73fd167334bc08a3a1f15832d5.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [ "insufficient_table_support" ], "primary_verdict": "incomplete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "incomplete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "native-fresh-08-elevated_support", "layout_id": "fresh-08", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545344036236508e-10, "complete": false, "linear_speed_m_s": 8.404736526497026e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418320112581e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191183526289997e-09 }, "prescribed_intervention": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "primary_packet_file": "packets/native-fresh-08-elevated_support-primary.json", "scenario": "elevated_support", "state_file": "states/native-fresh-08-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.996209, "baseline": 0.511459, "camera_observation": 17.927041, "fusion": 0.0025, "input_json_io": 1.369125, "png_io_decode": 6.285, "processed_window": 27.091334 }, { "actuator_observation": 1.018709, "baseline": 0.473959, "camera_observation": 16.794666, "fusion": 0.002125, "input_json_io": 1.382125, "png_io_decode": 6.225791, "processed_window": 25.897375 }, { "actuator_observation": 1.0205, "baseline": 0.513417, "camera_observation": 17.721, "fusion": 0.0025, "input_json_io": 1.416375, "png_io_decode": 7.161875, "processed_window": 27.835667 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294621885390405, 0.2078355987557112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5669238653699467, -0.08616990846681608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07485551343748753, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/a1614c72747d59e153cf2a5379bacaf9716b2240a1395408d93cb76fb428e5cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_position", "layout_id": "fresh-01", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546557188912078e-10, "complete": false, "linear_speed_m_s": 8.405858605124918e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996937695405, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.19118242994476e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-01-wrong_position.json", "timing_ms": [ { "actuator_observation": 1.036084, "baseline": 0.496459, "camera_observation": 17.865916, "fusion": 0.015333, "input_json_io": 2.460291, "png_io_decode": 7.22525, "processed_window": 29.099333 }, { "actuator_observation": 1.002375, "baseline": 0.485334, "camera_observation": 17.301125, "fusion": 0.02025, "input_json_io": 1.538583, "png_io_decode": 13.78125, "processed_window": 34.128917 }, { "actuator_observation": 0.978167, "baseline": 0.480166, "camera_observation": 17.459625, "fusion": 0.014417, "input_json_io": 1.411458, "png_io_decode": 13.932042, "processed_window": 34.275875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430575415914495, 0.20805916436873972 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40579844611290705, -0.09959739118038435 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5264, "yaw_axis_rad": 1.4953030240079759, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/64c0ff8b73370df8fb8659c6e1dc96a2e9074d9957dddebd7f0396c894e0a2f9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_orientation", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547189983637771e-10, "complete": false, "linear_speed_m_s": 8.406512498573426e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418421960358e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-01-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 1.002541, "baseline": 0.50775, "camera_observation": 18.248167, "fusion": 0.018167, "input_json_io": 2.450875, "png_io_decode": 7.76175, "processed_window": 29.98925 }, { "actuator_observation": 1.025291, "baseline": 0.548625, "camera_observation": 18.106625, "fusion": 0.015834, "input_json_io": 1.900583, "png_io_decode": 6.101292, "processed_window": 27.69825 }, { "actuator_observation": 0.994125, "baseline": 0.49375, "camera_observation": 17.533959, "fusion": 0.01625, "input_json_io": 1.432584, "png_io_decode": 6.428291, "processed_window": 26.898959 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-01-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/c3b4436320d6ce2db274e6ed821e78c8218cd2eedb5f8d765dbfc9e98103bd95.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-missing_target", "layout_id": "fresh-01", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-01-missing_target.json", "timing_ms": [ { "actuator_observation": 0.979292, "baseline": 0.528625, "camera_observation": 12.613167, "fusion": 0.004875, "input_json_io": 1.379291, "png_io_decode": 5.9275, "processed_window": 21.43275 }, { "actuator_observation": 1.276125, "baseline": 0.481584, "camera_observation": 12.717916, "fusion": 0.007, "input_json_io": 1.36975, "png_io_decode": 5.675375, "processed_window": 21.52775 }, { "actuator_observation": 1.02, "baseline": 0.503792, "camera_observation": 12.654875, "fusion": 0.004917, "input_json_io": 1.49075, "png_io_decode": 8.809208, "processed_window": 24.483542 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-01-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/daf3c96be603ee3ca355e9d971b7b7826ce273eb600d8eaf44b2775ce18a1a2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-wrong_object", "layout_id": "fresh-01", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-01-wrong_object.json", "timing_ms": [ { "actuator_observation": 1.013292, "baseline": 0.498542, "camera_observation": 12.769625, "fusion": 0.004125, "input_json_io": 2.088917, "png_io_decode": 6.488916, "processed_window": 22.863417 }, { "actuator_observation": 0.998708, "baseline": 0.484541, "camera_observation": 12.738959, "fusion": 0.004667, "input_json_io": 1.387542, "png_io_decode": 6.479792, "processed_window": 22.094209 }, { "actuator_observation": 1.000375, "baseline": 0.526625, "camera_observation": 13.056875, "fusion": 0.004625, "input_json_io": 1.409958, "png_io_decode": 6.085667, "processed_window": 22.084125 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04000736113635696, "jaw_gap_min_m": 0.03800473771042344, "maximum_abs_drive_effort_n": 0.7873531556763159, "maximum_abs_jaw_rate_m_s": 0.002013540744516026, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188093625494507 ], "displacement_interval_m": [ 0.0, 0.08376187250988092 ], "displacement_m": 1.1872509880913762e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187933499414777 ], "displacement_interval_m": [ 0.0, 0.08375866998828632 ], "displacement_m": 8.669988286314674e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188248570012635 ], "displacement_interval_m": [ 0.0, 0.08376497140024347 ], "displacement_m": 1.4971400243461205e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.189882800935907 ], "displacement_interval_m": [ 0.0, 0.08379765601870891 ], "displacement_m": 4.765601870890399e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188402579593492 ], "displacement_interval_m": [ 0.0, 0.08376805159186063 ], "displacement_m": 1.8051591860615473e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187747787129664 ], "displacement_interval_m": [ 0.0, 0.08375495574258406 ], "displacement_m": 4.955742584052546e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187756822468201 ], "displacement_interval_m": [ 0.0, 0.0837551364493548 ], "displacement_m": 5.136449354785716e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188352728975667 ], "displacement_interval_m": [ 0.0, 0.0837670545795041 ], "displacement_m": 1.7054579504104567e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.188666586884458 ], "displacement_interval_m": [ 0.0, 0.08377333173767992 ], "displacement_m": 2.333173767992332e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41910451197156307 ], "net_displacement_interval_m": [ 0.0, 0.08382090239430338 ], "net_displacement_m": 7.090239430338445e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431579840719677, 0.17773858590445096 ], "candidate_pixels": 4688, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809486988054605, -0.08620867107508107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4688, "yaw_axis_rad": -0.08260306044686239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043165829192202715, 0.17773625859129277 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40811247334754797, -0.08621908315564608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08277219330627972, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431595372604624, 0.17773284320291963 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809782029418035, -0.08622215412491581 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08264501634420007, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043168264721225744, 0.17773324120393874 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40805198784907276, -0.08623521104241741 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08268252512331387, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043182504769311764, 0.17773278376398127 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080381500426258, -0.08624680306904946 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.08283459734880161, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043177809400162484, 0.17773475371163172 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.408038664463867, -0.0862517320400725 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08282528379848397, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043101659815567586, 0.1777370087993081 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080365138592751, -0.08625639658848189 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08284289936297196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310711386511282, 0.1777376679798301 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080527564512689, -0.08626159628918321 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08271043328461758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308910084253932, 0.1777379029489932 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080714285714286, -0.08627558635394032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08292728133098137, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-unreleased", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-01-unreleased.json", "timing_ms": [ { "actuator_observation": 0.98125, "baseline": 0.487875, "camera_observation": 17.194, "fusion": 0.015584, "input_json_io": 1.356, "png_io_decode": 8.635041, "processed_window": 28.66975 }, { "actuator_observation": 1.00875, "baseline": 0.491958, "camera_observation": 17.068542, "fusion": 0.015167, "input_json_io": 1.37725, "png_io_decode": 7.047125, "processed_window": 27.008792 }, { "actuator_observation": 1.000583, "baseline": 0.498792, "camera_observation": 16.741375, "fusion": 0.0145, "input_json_io": 3.409125, "png_io_decode": 7.901667, "processed_window": 29.566042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.521680853255212 ], "displacement_interval_m": [ 0.0, 0.09043361706510432 ], "displacement_m": 0.006683617065104315, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.525782964654 ], "displacement_interval_m": [ 0.0, 0.09051565929308007 ], "displacement_m": 0.0067656592930800735, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.541449269525862 ], "displacement_interval_m": [ 0.0, 0.09082898539051733 ], "displacement_m": 0.007078985390517328, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.581608981062919 ], "displacement_interval_m": [ 0.0, 0.09163217962125846 ], "displacement_m": 0.00788217962125845, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.649059300024403 ], "displacement_interval_m": [ 0.0, 0.09298118600048814 ], "displacement_m": 0.009231186000488136, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.791055086764231 ], "displacement_interval_m": [ 0.0, 0.09582110173528471 ], "displacement_m": 0.012071101735284714, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.812500000000016 ], "displacement_interval_m": [ 0.0, 0.0962500000000004 ], "displacement_m": 0.0125000000000004, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8064664404358926 ], "displacement_interval_m": [ 0.0, 0.09612932880871794 ], "displacement_m": 0.012379328808717928, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.803558343902339 ], "displacement_interval_m": [ 0.0, 0.09607116687804687 ], "displacement_m": 0.012321166878046859, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.802163652994279 ], "displacement_interval_m": [ 0.0, 0.09604327305988566 ], "displacement_m": 0.012293273059885658, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.07718219185323276, 0.9146821918532321 ], "net_displacement_interval_m": [ 0.015436438370646566, 0.18293643837064658 ], "net_displacement_m": 0.09918643837064657, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339121333924391, 0.16091509735636517 ], "candidate_pixels": 4144, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4305396356177602, -0.08743514720076864 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4144, "yaw_axis_rad": -0.08315364835695238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324710955397388, 0.17318729906478858 ], "candidate_pixels": 4476, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4372980898123323, -0.08712298927613518 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4478, "yaw_axis_rad": -0.07837175296744636, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04307819045642588, 0.185066355680871 ], "candidate_pixels": 4788, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4443687343358397, -0.0867794486215496 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4790, "yaw_axis_rad": -0.07498359535990406, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04298303445721053, 0.19600813827220204 ], "candidate_pixels": 5042, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45224588456961523, -0.08649791749305447 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5044, "yaw_axis_rad": -0.0738723962959762, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04290219624391968, 0.20620464054843168 ], "candidate_pixels": 5217, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46147318861414605, -0.08623023289246376 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5219, "yaw_axis_rad": -0.07470686788931324, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900015632596385, 0.20796943409853613 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4735442116816185, -0.08618665298720815 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07500523222500632, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900015632596385, 0.2079694340985362 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4860442116816189, -0.08618665298720815 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07500523222500632, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042915223140952925, 0.20778360175793995 ], "candidate_pixels": 5238, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49842353951890067, -0.08618174875906519 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5241, "yaw_axis_rad": -0.07509696410428823, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042916322409650084, 0.20787056097532403 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5107447062190004, -0.08617965471193885 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07485911185220573, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04292780183058056, 0.2077429385396829 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5230379792103759, -0.08617835685675825 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07476967414103441, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-sustained_motion", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-01-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.010291, "baseline": 0.488208, "camera_observation": 17.018917, "fusion": 0.018, "input_json_io": 1.351583, "png_io_decode": 6.756292, "processed_window": 26.643291 }, { "actuator_observation": 1.020958, "baseline": 0.482875, "camera_observation": 16.847167, "fusion": 0.015792, "input_json_io": 1.344333, "png_io_decode": 9.615042, "processed_window": 29.326167 }, { "actuator_observation": 1.2105, "baseline": 0.485708, "camera_observation": 17.125292, "fusion": 0.019667, "input_json_io": 1.410917, "png_io_decode": 9.345083, "processed_window": 29.597167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-instant_alias", "layout_id": "fresh-01", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-01-instant_alias.json", "timing_ms": [ { "actuator_observation": 1.070875, "baseline": 0.628166, "camera_observation": 16.680709, "fusion": 0.01575, "input_json_io": 1.436792, "png_io_decode": 7.354417, "processed_window": 27.186709 }, { "actuator_observation": 0.984625, "baseline": 0.475125, "camera_observation": 16.043083, "fusion": 0.013584, "input_json_io": 1.384083, "png_io_decode": 5.846125, "processed_window": 24.746625 }, { "actuator_observation": 0.99, "baseline": 0.4775, "camera_observation": 15.294042, "fusion": 0.018542, "input_json_io": 1.492083, "png_io_decode": 6.282, "processed_window": 24.554167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339565712167094, 0.17630467724707571 ], "candidate_pixels": 4358, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43543253786140423, -0.09164152134006204 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4360, "yaw_axis_rad": -0.08904916418236297, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/e3e5fa50635d4d197bfcdcbe37581aaadb69e512e562dbab3e1cb85d3ba6e8de.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-yaw_flip180", "layout_id": "fresh-01", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547064937635123e-10, "complete": false, "linear_speed_m_s": 8.406390667545483e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418409595156e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-01-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 1.024167, "baseline": 0.464708, "camera_observation": 16.029, "fusion": 0.014166, "input_json_io": 1.300709, "png_io_decode": 5.7435, "processed_window": 24.57625 }, { "actuator_observation": 1.076959, "baseline": 0.448709, "camera_observation": 17.175791, "fusion": 0.019375, "input_json_io": 1.348, "png_io_decode": 7.302583, "processed_window": 27.371417 }, { "actuator_observation": 1.011875, "baseline": 0.491709, "camera_observation": 16.460041, "fusion": 0.014792, "input_json_io": 2.487459, "png_io_decode": 7.200041, "processed_window": 27.665917 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-lookalike_wrongobject", "layout_id": "fresh-01", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-01-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.97475, "baseline": 0.478375, "camera_observation": 15.981375, "fusion": 0.014583, "input_json_io": 1.833375, "png_io_decode": 5.897209, "processed_window": 25.179667 }, { "actuator_observation": 0.997166, "baseline": 0.448958, "camera_observation": 15.029334, "fusion": 0.013417, "input_json_io": 1.369, "png_io_decode": 6.268625, "processed_window": 24.1265 }, { "actuator_observation": 0.916167, "baseline": 0.492167, "camera_observation": 15.120208, "fusion": 0.013666, "input_json_io": 1.492583, "png_io_decode": 6.312917, "processed_window": 24.347708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04360623539324544, 0.14863715373205455 ], "candidate_pixels": 3787, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4237059347768681, -0.08777082783205443 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3800, "yaw_axis_rad": -0.08895339239089939, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/076734bb32a80fc8834167e231b98cf5f0a25a4adfded42bb97c59ecdd528443.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forgery-elevated_support", "layout_id": "fresh-01", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547640449188617e-10, "complete": false, "linear_speed_m_s": 8.406883389657325e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418446875351e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191181361355099e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-01-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-01-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.929458, "baseline": 0.449458, "camera_observation": 16.057167, "fusion": 0.014708, "input_json_io": 1.315959, "png_io_decode": 5.812875, "processed_window": 24.579625 }, { "actuator_observation": 1.016208, "baseline": 0.480792, "camera_observation": 17.1575, "fusion": 0.014792, "input_json_io": 1.316833, "png_io_decode": 7.842208, "processed_window": 27.828333 }, { "actuator_observation": 1.035458, "baseline": 0.4935, "camera_observation": 17.133167, "fusion": 0.015708, "input_json_io": 1.501, "png_io_decode": 6.335958, "processed_window": 26.514791 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-01-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_missing", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 1.0905, "baseline": 0.442416, "camera_observation": 0.001625, "fusion": 0.005125, "input_json_io": 1.308042, "png_io_decode": 0.001, "processed_window": 2.848708 }, { "actuator_observation": 0.924042, "baseline": 0.457333, "camera_observation": 0.00325, "fusion": 0.003375, "input_json_io": 1.547292, "png_io_decode": 0.001375, "processed_window": 2.936667 }, { "actuator_observation": 0.921583, "baseline": 0.443708, "camera_observation": 0.001542, "fusion": 0.002875, "input_json_io": 1.3555, "png_io_decode": 0.000875, "processed_window": 2.726083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-01-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_stale", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 0.96025, "baseline": 0.467584, "camera_observation": 0.009666, "fusion": 0.003, "input_json_io": 1.493083, "png_io_decode": 6.736875, "processed_window": 9.670458 }, { "actuator_observation": 0.982375, "baseline": 0.618167, "camera_observation": 0.012333, "fusion": 0.0035, "input_json_io": 1.315, "png_io_decode": 6.137333, "processed_window": 9.068708 }, { "actuator_observation": 0.984792, "baseline": 0.490417, "camera_observation": 0.008583, "fusion": 0.00375, "input_json_io": 1.320459, "png_io_decode": 5.869583, "processed_window": 8.677584 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-01-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_gap", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 1.001625, "baseline": 0.493208, "camera_observation": 0.0065, "fusion": 0.003667, "input_json_io": 2.188667, "png_io_decode": 7.768042, "processed_window": 11.461709 }, { "actuator_observation": 0.907584, "baseline": 0.446833, "camera_observation": 0.0055, "fusion": 0.003083, "input_json_io": 1.420875, "png_io_decode": 5.97225, "processed_window": 8.756125 }, { "actuator_observation": 0.901959, "baseline": 0.447667, "camera_observation": 0.005041, "fusion": 0.003, "input_json_io": 2.30925, "png_io_decode": 6.4555, "processed_window": 10.122417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-camera_bad_calibration_id", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 1.0895, "baseline": 0.449375, "camera_observation": 0.002417, "fusion": 0.00325, "input_json_io": 1.1865, "png_io_decode": 6.05, "processed_window": 8.781042 }, { "actuator_observation": 4.819417, "baseline": 0.44675, "camera_observation": 0.002791, "fusion": 0.004708, "input_json_io": 1.283333, "png_io_decode": 5.760417, "processed_window": 12.317416 }, { "actuator_observation": 1.228541, "baseline": 0.884875, "camera_observation": 0.004375, "fusion": 0.010875, "input_json_io": 1.45075, "png_io_decode": 8.328209, "processed_window": 11.907625 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-01-fault-actuator_missing-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_missing", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 0.006208, "baseline": 0.497417, "camera_observation": 17.8475, "fusion": 0.020334, "input_json_io": 0.845625, "png_io_decode": 16.095583, "processed_window": 35.312667 }, { "actuator_observation": 0.008875, "baseline": 0.490167, "camera_observation": 20.585292, "fusion": 0.016458, "input_json_io": 0.768375, "png_io_decode": 7.29, "processed_window": 29.159167 }, { "actuator_observation": 0.005916, "baseline": 0.60425, "camera_observation": 20.290959, "fusion": 0.015625, "input_json_io": 0.701125, "png_io_decode": 7.435458, "processed_window": 29.053333 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-01-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_stale", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 0.044042, "baseline": 0.495708, "camera_observation": 22.9675, "fusion": 0.018083, "input_json_io": 3.781584, "png_io_decode": 13.329208, "processed_window": 40.636125 }, { "actuator_observation": 0.07625, "baseline": 0.804167, "camera_observation": 20.494667, "fusion": 0.047291, "input_json_io": 1.742166, "png_io_decode": 8.7535, "processed_window": 31.918041 }, { "actuator_observation": 0.064084, "baseline": 0.57325, "camera_observation": 23.251458, "fusion": 0.026083, "input_json_io": 1.714542, "png_io_decode": 7.39275, "processed_window": 33.022167 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-01-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_gap", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 0.008833, "baseline": 0.527375, "camera_observation": 21.381125, "fusion": 0.018958, "input_json_io": 1.628083, "png_io_decode": 8.621792, "processed_window": 32.186166 }, { "actuator_observation": 0.006042, "baseline": 0.542917, "camera_observation": 19.755833, "fusion": 0.018167, "input_json_io": 1.546917, "png_io_decode": 8.037291, "processed_window": 29.907167 }, { "actuator_observation": 0.006666, "baseline": 0.530291, "camera_observation": 20.500459, "fusion": 0.017792, "input_json_io": 1.581166, "png_io_decode": 7.776834, "processed_window": 30.413208 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-01-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-fault-actuator_wrong_units", "layout_id": "fresh-01", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.547849252811727e-10, "complete": true, "linear_speed_m_s": 8.407155071242825e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418461755385e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810421659794e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-01-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-01-complete.json", "timing_ms": [ { "actuator_observation": 1.884125, "baseline": 0.624375, "camera_observation": 20.966834, "fusion": 0.025458, "input_json_io": 1.536083, "png_io_decode": 7.525625, "processed_window": 32.5625 }, { "actuator_observation": 0.965125, "baseline": 0.61175, "camera_observation": 19.734042, "fusion": 0.019417, "input_json_io": 1.630417, "png_io_decode": 7.652416, "processed_window": 30.613167 }, { "actuator_observation": 0.9535, "baseline": 0.534459, "camera_observation": 20.641166, "fusion": 0.018, "input_json_io": 1.67225, "png_io_decode": 7.428291, "processed_window": 31.247666 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-01-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-01-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-refreshed_camera_replay", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-01-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.231041, "baseline": 0.564083, "camera_observation": 21.285959, "fusion": 0.018792, "input_json_io": 1.773375, "png_io_decode": 8.849625, "processed_window": 33.722875 }, { "actuator_observation": 1.287958, "baseline": 0.592, "camera_observation": 21.200083, "fusion": 0.015292, "input_json_io": 1.741292, "png_io_decode": 8.30025, "processed_window": 33.136875 }, { "actuator_observation": 1.079, "baseline": 0.52375, "camera_observation": 19.105917, "fusion": 0.021542, "input_json_io": 1.672333, "png_io_decode": 8.47025, "processed_window": 30.872792 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7873531556763159, "maximum_abs_jaw_rate_m_s": 0.002013540744516026, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-01-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188093625494507 ], "displacement_interval_m": [ 0.0, 0.08376187250988092 ], "displacement_m": 1.1872509880913762e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187933499414777 ], "displacement_interval_m": [ 0.0, 0.08375866998828632 ], "displacement_m": 8.669988286314674e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188248570012635 ], "displacement_interval_m": [ 0.0, 0.08376497140024347 ], "displacement_m": 1.4971400243461205e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.189882800935907 ], "displacement_interval_m": [ 0.0, 0.08379765601870891 ], "displacement_m": 4.765601870890399e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188402579593492 ], "displacement_interval_m": [ 0.0, 0.08376805159186063 ], "displacement_m": 1.8051591860615473e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187747787129664 ], "displacement_interval_m": [ 0.0, 0.08375495574258406 ], "displacement_m": 4.955742584052546e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187756822468201 ], "displacement_interval_m": [ 0.0, 0.0837551364493548 ], "displacement_m": 5.136449354785716e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188352728975667 ], "displacement_interval_m": [ 0.0, 0.0837670545795041 ], "displacement_m": 1.7054579504104567e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.188666586884458 ], "displacement_interval_m": [ 0.0, 0.08377333173767992 ], "displacement_m": 2.333173767992332e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41910451197156307 ], "net_displacement_interval_m": [ 0.0, 0.08382090239430338 ], "net_displacement_m": 7.090239430338445e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431579840719677, 0.17773858590445096 ], "candidate_pixels": 4688, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809486988054605, -0.08620867107508107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4688, "yaw_axis_rad": -0.08260306044686239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043165829192202715, 0.17773625859129277 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40811247334754797, -0.08621908315564608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08277219330627972, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431595372604624, 0.17773284320291963 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809782029418035, -0.08622215412491581 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08264501634420007, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043168264721225744, 0.17773324120393874 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40805198784907276, -0.08623521104241741 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08268252512331387, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043182504769311764, 0.17773278376398127 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080381500426258, -0.08624680306904946 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.08283459734880161, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043177809400162484, 0.17773475371163172 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.408038664463867, -0.0862517320400725 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08282528379848397, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043101659815567586, 0.1777370087993081 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080365138592751, -0.08625639658848189 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08284289936297196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310711386511282, 0.1777376679798301 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080527564512689, -0.08626159628918321 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08271043328461758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308910084253932, 0.1777379029489932 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080714285714286, -0.08627558635394032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08292728133098137, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forged_encoder_only", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-01-unreleased.json", "timing_ms": [ { "actuator_observation": 1.032875, "baseline": 0.521292, "camera_observation": 18.6655, "fusion": 0.013625, "input_json_io": 1.620958, "png_io_decode": 9.02525, "processed_window": 30.8795 }, { "actuator_observation": 1.050125, "baseline": 0.51825, "camera_observation": 19.075125, "fusion": 0.015292, "input_json_io": 1.436292, "png_io_decode": 7.969958, "processed_window": 30.065042 }, { "actuator_observation": 1.100875, "baseline": 0.519959, "camera_observation": 18.496666, "fusion": 0.016125, "input_json_io": 1.483708, "png_io_decode": 7.772708, "processed_window": 29.390041 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04000736113635696, "jaw_gap_min_m": 0.03800473771042344, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002013540744516026, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-01-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188093625494507 ], "displacement_interval_m": [ 0.0, 0.08376187250988092 ], "displacement_m": 1.1872509880913762e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187933499414777 ], "displacement_interval_m": [ 0.0, 0.08375866998828632 ], "displacement_m": 8.669988286314674e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188248570012635 ], "displacement_interval_m": [ 0.0, 0.08376497140024347 ], "displacement_m": 1.4971400243461205e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.189882800935907 ], "displacement_interval_m": [ 0.0, 0.08379765601870891 ], "displacement_m": 4.765601870890399e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188402579593492 ], "displacement_interval_m": [ 0.0, 0.08376805159186063 ], "displacement_m": 1.8051591860615473e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187747787129664 ], "displacement_interval_m": [ 0.0, 0.08375495574258406 ], "displacement_m": 4.955742584052546e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187756822468201 ], "displacement_interval_m": [ 0.0, 0.0837551364493548 ], "displacement_m": 5.136449354785716e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188352728975667 ], "displacement_interval_m": [ 0.0, 0.0837670545795041 ], "displacement_m": 1.7054579504104567e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.188666586884458 ], "displacement_interval_m": [ 0.0, 0.08377333173767992 ], "displacement_m": 2.333173767992332e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41910451197156307 ], "net_displacement_interval_m": [ 0.0, 0.08382090239430338 ], "net_displacement_m": 7.090239430338445e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431579840719677, 0.17773858590445096 ], "candidate_pixels": 4688, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809486988054605, -0.08620867107508107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4688, "yaw_axis_rad": -0.08260306044686239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043162567641666524, 0.17773757734415654 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4081055395606739, -0.08621387822563022 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08270192542358057, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043165829192202715, 0.17773625859129277 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40811247334754797, -0.08621908315564608 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08277219330627972, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0431595372604624, 0.17773284320291963 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40809782029418035, -0.08622215412491581 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08264501634420007, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043168264721225744, 0.17773324120393874 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40805198784907276, -0.08623521104241741 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08268252512331387, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043182504769311764, 0.17773278376398127 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080381500426258, -0.08624680306904946 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.08283459734880161, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043177809400162484, 0.17773475371163172 ], "candidate_pixels": 4691, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.408038664463867, -0.0862517320400725 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4691, "yaw_axis_rad": -0.08282528379848397, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043101659815567586, 0.1777370087993081 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080365138592751, -0.08625639658848189 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08284289936297196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310711386511282, 0.1777376679798301 ], "candidate_pixels": 4689, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080527564512689, -0.08626159628918321 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4689, "yaw_axis_rad": -0.08271043328461758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308910084253932, 0.1777379029489932 ], "candidate_pixels": 4690, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4080714285714286, -0.08627558635394032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4690, "yaw_axis_rad": -0.08292728133098137, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-01-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/9b23d3c92f34ea9516783b26655396d6f87113ac286d55aa30f75c3538df746f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-forged_effort_only", "layout_id": "fresh-01", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002996969074054667, "complete": false, "linear_speed_m_s": 9.653333150270493e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005576065784396636, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0029146636624422517 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-01-unreleased.json", "timing_ms": [ { "actuator_observation": 1.073, "baseline": 0.541625, "camera_observation": 17.55325, "fusion": 0.014792, "input_json_io": 1.48825, "png_io_decode": 8.248833, "processed_window": 28.91975 }, { "actuator_observation": 1.068417, "baseline": 0.640042, "camera_observation": 19.032375, "fusion": 0.016041, "input_json_io": 1.487708, "png_io_decode": 7.855375, "processed_window": 30.099958 }, { "actuator_observation": 1.345, "baseline": 0.548542, "camera_observation": 19.491167, "fusion": 0.017875, "input_json_io": 1.506542, "png_io_decode": 7.659458, "processed_window": 30.568584 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-01-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6796338145422216e-09, "upper": 2.6796338145422216e-09 }, "observed": 2.6796338145422216e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153156948939e-10, "upper": 9.189153156948939e-10 }, "observed": 9.189153156948939e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418461755385e-07, "upper": 1.0857418461755385e-07 }, "observed": 1.0857418461755385e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641805454794e-09, "upper": 2.1965641805454794e-09 }, "observed": 2.1965641805454794e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043589748253639454, 0.14884366491886963 ], "candidate_pixels": 3796, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42386426501580593, -0.08776705742886987 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3809, "yaw_axis_rad": -0.08816048086209705, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-01-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.408156, -0.088494 ], "goal_yaw_rad": -0.074852, "object_id": "shoe_trainer_left" }, "current_image": "images/6e1a0e8c94f4b276a0dbf6cc127ab19d101ddba2b832beab9b3c0a1e47eb4531.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/d3f4876535efcb3047985bfd8616157aa075fa7fb6d94d7577552fe1904f7c05.png", "id": "fresh-01-all_channels_forged", "layout_id": "fresh-01", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495251468593, "complete": false, "linear_speed_m_s": 0.609950963082102, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603349153180327, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1559746334054442e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-01-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-01-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.062417, "baseline": 0.528167, "camera_observation": 18.509083, "fusion": 0.017541, "input_json_io": 1.540791, "png_io_decode": 7.306917, "processed_window": 28.964916 }, { "actuator_observation": 1.128708, "baseline": 0.531541, "camera_observation": 18.717334, "fusion": 0.013125, "input_json_io": 1.597208, "png_io_decode": 7.499917, "processed_window": 29.487833 }, { "actuator_observation": 1.090041, "baseline": 0.80675, "camera_observation": 19.6215, "fusion": 0.015667, "input_json_io": 1.563375, "png_io_decode": 7.385667, "processed_window": 30.483 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043093182516875286, 0.20759801355058533 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5715541087411921, -0.11540956484479253 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017127000601059095, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/d872c795adf78d2062380efdd091dab84c5a8e904dd87d4065bb5dd9511a0a2a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_position", "layout_id": "fresh-02", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.544805675398738e-10, "complete": false, "linear_speed_m_s": 8.404209020016126e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997549377416, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839773181008e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-02-wrong_position.json", "timing_ms": [ { "actuator_observation": 1.066167, "baseline": 0.862292, "camera_observation": 19.271458, "fusion": 0.016042, "input_json_io": 1.558792, "png_io_decode": 7.247666, "processed_window": 30.022417 }, { "actuator_observation": 1.001458, "baseline": 0.507542, "camera_observation": 18.098333, "fusion": 0.021292, "input_json_io": 1.555416, "png_io_decode": 7.279917, "processed_window": 28.463958 }, { "actuator_observation": 0.953542, "baseline": 0.475542, "camera_observation": 16.730916, "fusion": 0.012708, "input_json_io": 1.397416, "png_io_decode": 6.544167, "processed_window": 26.114291 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042589584737476885, 0.2085863873671841 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41112796140619184, -0.1283279996178835 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5544800954771638, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/b139dbf02cd58ff3a16008313c8d2cff2d40657c5337a27ae8ee2729373b2c23.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_orientation", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546321688490891e-10, "complete": false, "linear_speed_m_s": 8.405701843537689e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418369222989e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-02-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.961792, "baseline": 0.485417, "camera_observation": 16.923791, "fusion": 0.014458, "input_json_io": 1.405167, "png_io_decode": 6.346083, "processed_window": 26.136708 }, { "actuator_observation": 0.973041, "baseline": 0.502042, "camera_observation": 16.938, "fusion": 0.014375, "input_json_io": 1.420584, "png_io_decode": 6.168208, "processed_window": 26.01625 }, { "actuator_observation": 0.892625, "baseline": 0.465333, "camera_observation": 16.579833, "fusion": 0.012334, "input_json_io": 1.453375, "png_io_decode": 6.482125, "processed_window": 25.885625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-02-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/07b0f7ff8f9ac476c14a0475abaecd3b8d632826679a65201ea152436ad571e8.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-missing_target", "layout_id": "fresh-02", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-02-missing_target.json", "timing_ms": [ { "actuator_observation": 0.891208, "baseline": 0.438416, "camera_observation": 11.138667, "fusion": 0.003334, "input_json_io": 1.239917, "png_io_decode": 5.726125, "processed_window": 19.437667 }, { "actuator_observation": 0.950625, "baseline": 0.433084, "camera_observation": 11.348458, "fusion": 0.003542, "input_json_io": 1.256, "png_io_decode": 5.275541, "processed_window": 19.26725 }, { "actuator_observation": 0.886375, "baseline": 0.43225, "camera_observation": 11.104875, "fusion": 0.003375, "input_json_io": 1.237583, "png_io_decode": 4.904375, "processed_window": 18.568833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-02-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/729bb6ade187bbea921807e252ea3fd379477f27cfb775c3a78129d8ab2672e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-wrong_object", "layout_id": "fresh-02", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-02-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.948292, "baseline": 0.424417, "camera_observation": 11.671041, "fusion": 0.003625, "input_json_io": 1.225542, "png_io_decode": 5.351333, "processed_window": 19.62425 }, { "actuator_observation": 0.933125, "baseline": 0.446459, "camera_observation": 12.625833, "fusion": 0.003792, "input_json_io": 1.386833, "png_io_decode": 6.214125, "processed_window": 21.610167 }, { "actuator_observation": 0.937584, "baseline": 0.453292, "camera_observation": 12.581916, "fusion": 0.004291, "input_json_io": 1.571709, "png_io_decode": 5.897708, "processed_window": 21.4465 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039711784098577396, "jaw_gap_min_m": 0.03770721007726306, "maximum_abs_drive_effort_n": 0.7807802176455142, "maximum_abs_jaw_rate_m_s": 0.0020244916639255623, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188307017245155 ], "displacement_interval_m": [ 0.0, 0.08376614034489387 ], "displacement_m": 1.614034489386709e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187584859047286 ], "displacement_interval_m": [ 0.0, 0.0837516971809365 ], "displacement_m": 1.697180936503171e-06, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188600076704269 ], "displacement_interval_m": [ 0.0, 0.08377200153407614 ], "displacement_m": 2.2001534076133245e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188253467262114 ], "displacement_interval_m": [ 0.0, 0.08376506934523305 ], "displacement_m": 1.5069345233039614e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188078684492464 ], "displacement_interval_m": [ 0.0, 0.08376157368984005 ], "displacement_m": 1.1573689840047144e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.189291396281289 ], "displacement_interval_m": [ 0.0, 0.08378582792561656 ], "displacement_m": 3.582792561656149e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188452625389159 ], "displacement_interval_m": [ 0.0, 0.08376905250777396 ], "displacement_m": 1.9052507773953703e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188146567060816 ], "displacement_interval_m": [ 0.0, 0.08376293134120709 ], "displacement_m": 1.2931341207087548e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41908897853952953 ], "net_displacement_interval_m": [ 0.0, 0.08381779570789667 ], "net_displacement_m": 6.779570789666713e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323270886675806, 0.17834118496184437 ], "candidate_pixels": 4718, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382789317507446, -0.1086024268757975 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4718, "yaw_axis_rad": 0.09002722511688832, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215055432808416, 0.1783428043739237 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384197413061946, -0.1086103159457194 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09014373507194495, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321492583986512, 0.17834233851835252 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384091391009364, -0.10861164122137672 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4716, "yaw_axis_rad": 0.0901991526673438, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043213553968868224, 0.178906172269662 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138232722069115, -0.10862478800085067 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09037120887492955, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043214793154247665, 0.17891339329357703 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138091072943176, -0.10862993002544793 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09025583406736049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215519745911424, 0.17892179463855457 ], "candidate_pixels": 4715, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382012195121987, -0.10863348356309914 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4715, "yaw_axis_rad": 0.09035525734985494, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321419367574915, 0.17890500704231166 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.413855867076532, -0.10863591795633079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09015115716612021, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215211715484876, 0.17834336607858986 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41387457591179, -0.10863231552163113 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09007682857171107, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-unreleased", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-02-unreleased.json", "timing_ms": [ { "actuator_observation": 1.083708, "baseline": 0.497875, "camera_observation": 18.341917, "fusion": 0.025167, "input_json_io": 1.305875, "png_io_decode": 7.281583, "processed_window": 28.536125 }, { "actuator_observation": 1.016875, "baseline": 0.516125, "camera_observation": 19.647791, "fusion": 0.016084, "input_json_io": 2.195417, "png_io_decode": 7.667542, "processed_window": 31.059834 }, { "actuator_observation": 1.008708, "baseline": 0.494333, "camera_observation": 17.529, "fusion": 0.015209, "input_json_io": 1.492291, "png_io_decode": 7.531334, "processed_window": 28.070875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.558903874407176 ], "displacement_interval_m": [ 0.0, 0.0911780774881436 ], "displacement_m": 0.0074280774881436045, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.57414951956005 ], "displacement_interval_m": [ 0.0, 0.09148299039120109 ], "displacement_m": 0.007732990391201074, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.587885412631115 ], "displacement_interval_m": [ 0.0, 0.09175770825262239 ], "displacement_m": 0.008007708252622387, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.635325765510399 ], "displacement_interval_m": [ 0.0, 0.09270651531020806 ], "displacement_m": 0.008956515310208057, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.652420139899173 ], "displacement_interval_m": [ 0.0, 0.09304840279798356 ], "displacement_m": 0.009298402797983546, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.707801658625415 ], "displacement_interval_m": [ 0.0, 0.0941560331725084 ], "displacement_m": 0.010406033172508386, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.812500000000002 ], "displacement_interval_m": [ 0.0, 0.09625000000000013 ], "displacement_m": 0.012500000000000122, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.809596324710991 ], "displacement_interval_m": [ 0.0, 0.09619192649421991 ], "displacement_m": 0.012441926494219907, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.803892292378086 ], "displacement_interval_m": [ 0.0, 0.0960778458475618 ], "displacement_m": 0.012327845847561792, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.7979428615876225 ], "displacement_interval_m": [ 0.0, 0.09595885723175253 ], "displacement_m": 0.012208857231752525, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.08773607851592985, 0.9252360785159292 ], "net_displacement_interval_m": [ 0.017547215703185987, 0.185047215703186 ], "net_displacement_m": 0.10129721570318599, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04417803494405209, 0.16989735971325065 ], "candidate_pixels": 4213, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43367894018514114, -0.11656020056966364 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4317, "yaw_axis_rad": 0.016193535640228518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04330749957931265, 0.1812524652798392 ], "candidate_pixels": 4509, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4414081559104015, -0.11631861277445027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4512, "yaw_axis_rad": 0.008314263509353825, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04250494605042211, 0.18999854813209915 ], "candidate_pixels": 4768, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.449410130033557, -0.11601562500000001 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4771, "yaw_axis_rad": -0.00010235433118310766, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042865720199785046, 0.1936844250196212 ], "candidate_pixels": 4976, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4583623894694534, -0.11573954983922795 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4979, "yaw_axis_rad": -0.008516309329436922, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043061661879600706, 0.2012456332472357 ], "candidate_pixels": 5154, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.467657887077998, -0.11550713038416865 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5157, "yaw_axis_rad": -0.01464090746114266, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043113026502634544, 0.20861113900511719 ], "candidate_pixels": 5254, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47806338028169004, -0.11540112295394092 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5257, "yaw_axis_rad": -0.017119121359225886, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043113026502634544, 0.20861113900511724 ], "candidate_pixels": 5254, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49056338028169016, -0.11540112295394092 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5257, "yaw_axis_rad": -0.017119121359225886, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311213170580016, 0.20861193500606473 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5030053064915285, -0.11539846278317259 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": -0.01708182703784189, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043114175615794254, 0.2075765743677793 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5153331508284136, -0.11540456579699211 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": -0.017115327195624808, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043135816199167856, 0.20755436744022554 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5275419998096329, -0.11539037216828585 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": -0.017145373453499424, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-sustained_motion", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-02-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.285291, "baseline": 0.509417, "camera_observation": 22.895542, "fusion": 0.018917, "input_json_io": 2.168584, "png_io_decode": 9.049041, "processed_window": 35.926792 }, { "actuator_observation": 1.107667, "baseline": 0.502292, "camera_observation": 19.873541, "fusion": 0.013167, "input_json_io": 1.887084, "png_io_decode": 8.606833, "processed_window": 31.990584 }, { "actuator_observation": 1.12525, "baseline": 0.503333, "camera_observation": 19.161167, "fusion": 0.020041, "input_json_io": 1.46175, "png_io_decode": 6.775917, "processed_window": 29.047458 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-instant_alias", "layout_id": "fresh-02", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-02-instant_alias.json", "timing_ms": [ { "actuator_observation": 1.093291, "baseline": 0.540958, "camera_observation": 19.151792, "fusion": 0.017042, "input_json_io": 1.436416, "png_io_decode": 6.737709, "processed_window": 28.977208 }, { "actuator_observation": 1.435625, "baseline": 0.536291, "camera_observation": 18.897, "fusion": 0.022667, "input_json_io": 1.571916, "png_io_decode": 7.354959, "processed_window": 29.818458 }, { "actuator_observation": 0.991209, "baseline": 0.523167, "camera_observation": 20.190541, "fusion": 0.014416, "input_json_io": 1.537625, "png_io_decode": 6.718, "processed_window": 29.974958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04337329812058352, 0.1863952004488988 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.437260213143872, -0.1198626221136722 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4507, "yaw_axis_rad": 0.012941837812081136, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/4ed83c106b621b02aef5191a3ff2f7b8a155a29eae068703936d6771dace193a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-yaw_flip180", "layout_id": "fresh-02", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545509020662092e-10, "complete": false, "linear_speed_m_s": 8.404882592832254e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418317007579e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-02-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 1.069916, "baseline": 0.6035, "camera_observation": 19.210584, "fusion": 0.016084, "input_json_io": 1.765417, "png_io_decode": 7.430166, "processed_window": 30.095667 }, { "actuator_observation": 1.098375, "baseline": 0.572916, "camera_observation": 19.16775, "fusion": 0.016917, "input_json_io": 1.724417, "png_io_decode": 6.7985, "processed_window": 29.378875 }, { "actuator_observation": 1.215833, "baseline": 0.547625, "camera_observation": 19.075667, "fusion": 0.017542, "input_json_io": 2.057667, "png_io_decode": 9.853958, "processed_window": 32.768292 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-lookalike_wrongobject", "layout_id": "fresh-02", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-02-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 1.08425, "baseline": 0.499542, "camera_observation": 18.396041, "fusion": 0.01975, "input_json_io": 1.6605, "png_io_decode": 6.516, "processed_window": 28.176083 }, { "actuator_observation": 1.043833, "baseline": 0.517875, "camera_observation": 18.406084, "fusion": 0.011917, "input_json_io": 1.824709, "png_io_decode": 6.844666, "processed_window": 28.649084 }, { "actuator_observation": 1.119167, "baseline": 0.48375, "camera_observation": 18.768083, "fusion": 0.016416, "input_json_io": 1.55975, "png_io_decode": 6.681292, "processed_window": 28.628458 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04471682412079067, 0.1578448498537289 ], "candidate_pixels": 3901, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.426194725711356, -0.1167964944885898 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4206, "yaw_axis_rad": 0.024019665663956413, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/815e302234337e96628bde33a6c267192bd4ac5bfd19f1663ee1984686d5d6e0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forgery-elevated_support", "layout_id": "fresh-02", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546554220807077e-10, "complete": false, "linear_speed_m_s": 8.405871131703907e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418388562781e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911823258613516e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-02-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-02-elevated_support.json", "timing_ms": [ { "actuator_observation": 1.056791, "baseline": 0.491583, "camera_observation": 19.288834, "fusion": 0.014959, "input_json_io": 1.46525, "png_io_decode": 6.665, "processed_window": 28.982417 }, { "actuator_observation": 0.996375, "baseline": 0.524792, "camera_observation": 18.625666, "fusion": 0.014667, "input_json_io": 1.620042, "png_io_decode": 6.940458, "processed_window": 28.722 }, { "actuator_observation": 0.986917, "baseline": 0.489917, "camera_observation": 17.943875, "fusion": 0.014166, "input_json_io": 1.400084, "png_io_decode": 6.569666, "processed_window": 27.404625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-02-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_missing", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.958042, "baseline": 0.471792, "camera_observation": 0.002708, "fusion": 0.004125, "input_json_io": 7.247458, "png_io_decode": 0.001917, "processed_window": 8.686042 }, { "actuator_observation": 0.916416, "baseline": 0.448958, "camera_observation": 0.001834, "fusion": 0.003417, "input_json_io": 1.438333, "png_io_decode": 0.000917, "processed_window": 2.809875 }, { "actuator_observation": 0.942625, "baseline": 0.449166, "camera_observation": 0.001709, "fusion": 0.003416, "input_json_io": 1.413625, "png_io_decode": 0.000792, "processed_window": 2.811333 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-02-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_stale", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.958125, "baseline": 0.472459, "camera_observation": 0.009166, "fusion": 0.003167, "input_json_io": 1.430209, "png_io_decode": 7.061791, "processed_window": 9.934917 }, { "actuator_observation": 1.024459, "baseline": 0.483208, "camera_observation": 0.010833, "fusion": 0.003833, "input_json_io": 1.319042, "png_io_decode": 6.615, "processed_window": 9.456375 }, { "actuator_observation": 0.965459, "baseline": 0.477375, "camera_observation": 0.008666, "fusion": 0.003, "input_json_io": 1.507125, "png_io_decode": 6.5615, "processed_window": 9.523125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-02-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_gap", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.983542, "baseline": 0.492834, "camera_observation": 0.006666, "fusion": 0.003083, "input_json_io": 1.318417, "png_io_decode": 6.087708, "processed_window": 8.89225 }, { "actuator_observation": 0.968208, "baseline": 0.483666, "camera_observation": 0.006167, "fusion": 0.003584, "input_json_io": 1.333042, "png_io_decode": 5.893375, "processed_window": 8.688042 }, { "actuator_observation": 0.97225, "baseline": 0.493541, "camera_observation": 0.006084, "fusion": 0.0035, "input_json_io": 1.414458, "png_io_decode": 5.388417, "processed_window": 8.27825 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-camera_bad_calibration_id", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.989583, "baseline": 0.476875, "camera_observation": 0.002459, "fusion": 0.003625, "input_json_io": 1.397792, "png_io_decode": 6.233958, "processed_window": 9.104292 }, { "actuator_observation": 0.966625, "baseline": 0.472125, "camera_observation": 0.002209, "fusion": 0.003541, "input_json_io": 1.550792, "png_io_decode": 6.175708, "processed_window": 9.171 }, { "actuator_observation": 1.309708, "baseline": 0.475209, "camera_observation": 0.0025, "fusion": 0.005208, "input_json_io": 1.336292, "png_io_decode": 6.003791, "processed_window": 9.132708 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-02-fault-actuator_missing-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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"operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", 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0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_missing", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.005709, "baseline": 0.503708, "camera_observation": 18.385083, "fusion": 0.018416, "input_json_io": 0.659958, "png_io_decode": 5.961459, "processed_window": 25.534333 }, { "actuator_observation": 0.00575, "baseline": 0.494916, "camera_observation": 17.942959, "fusion": 0.015833, "input_json_io": 0.611958, "png_io_decode": 6.849834, "processed_window": 25.92125 }, { "actuator_observation": 0.005417, "baseline": 0.508375, "camera_observation": 17.677875, "fusion": 0.016042, "input_json_io": 0.611375, "png_io_decode": 6.039916, "processed_window": 24.859 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-02-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_stale", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.0345, "baseline": 0.502458, "camera_observation": 18.292125, "fusion": 0.0155, "input_json_io": 1.39975, "png_io_decode": 6.443125, "processed_window": 26.687458 }, { "actuator_observation": 0.035916, "baseline": 0.496334, "camera_observation": 18.10475, "fusion": 0.016125, "input_json_io": 1.406875, "png_io_decode": 5.940125, "processed_window": 26.000125 }, { "actuator_observation": 0.032792, "baseline": 0.480125, "camera_observation": 18.120667, "fusion": 0.015791, "input_json_io": 1.76, "png_io_decode": 6.790458, "processed_window": 27.199833 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-02-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_gap", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.007667, "baseline": 0.501333, "camera_observation": 18.824625, "fusion": 0.01875, "input_json_io": 1.361875, "png_io_decode": 6.799417, "processed_window": 27.513667 }, { "actuator_observation": 0.00625, "baseline": 0.562083, "camera_observation": 20.23925, "fusion": 0.01725, "input_json_io": 1.438875, "png_io_decode": 7.256167, "processed_window": 29.519875 }, { "actuator_observation": 0.006375, "baseline": 0.544334, "camera_observation": 19.60025, "fusion": 0.01925, "input_json_io": 1.514083, "png_io_decode": 6.81375, "processed_window": 28.498042 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-02-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-fault-actuator_wrong_units", "layout_id": "fresh-02", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546214867624176e-10, "complete": true, "linear_speed_m_s": 8.405495867197548e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418360171485e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191182804645031e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-02-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-02-complete.json", "timing_ms": [ { "actuator_observation": 0.946792, "baseline": 0.523917, "camera_observation": 18.459333, "fusion": 0.018458, "input_json_io": 1.574042, "png_io_decode": 6.983791, "processed_window": 28.506333 }, { "actuator_observation": 0.964667, "baseline": 0.721875, "camera_observation": 18.770167, "fusion": 0.019083, "input_json_io": 1.555666, "png_io_decode": 7.392125, "processed_window": 29.423583 }, { "actuator_observation": 0.87275, "baseline": 0.496167, "camera_observation": 17.946583, "fusion": 0.016834, "input_json_io": 1.546292, "png_io_decode": 6.671708, "processed_window": 27.550334 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-02-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-02-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-refreshed_camera_replay", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-02-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.9785, "baseline": 0.545833, "camera_observation": 18.376625, "fusion": 0.013625, "input_json_io": 1.73625, "png_io_decode": 6.263208, "processed_window": 27.914041 }, { "actuator_observation": 0.978125, "baseline": 0.488458, "camera_observation": 18.303208, "fusion": 0.013917, "input_json_io": 1.37975, "png_io_decode": 6.366375, "processed_window": 27.529833 }, { "actuator_observation": 1.026292, "baseline": 0.487583, "camera_observation": 18.076042, "fusion": 0.017833, "input_json_io": 1.467042, "png_io_decode": 6.571375, "processed_window": 27.646167 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7807802176455142, "maximum_abs_jaw_rate_m_s": 0.0020244916639255623, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-02-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188307017245155 ], "displacement_interval_m": [ 0.0, 0.08376614034489387 ], "displacement_m": 1.614034489386709e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187584859047286 ], "displacement_interval_m": [ 0.0, 0.0837516971809365 ], "displacement_m": 1.697180936503171e-06, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188600076704269 ], "displacement_interval_m": [ 0.0, 0.08377200153407614 ], "displacement_m": 2.2001534076133245e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188253467262114 ], "displacement_interval_m": [ 0.0, 0.08376506934523305 ], "displacement_m": 1.5069345233039614e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188078684492464 ], "displacement_interval_m": [ 0.0, 0.08376157368984005 ], "displacement_m": 1.1573689840047144e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.189291396281289 ], "displacement_interval_m": [ 0.0, 0.08378582792561656 ], "displacement_m": 3.582792561656149e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188452625389159 ], "displacement_interval_m": [ 0.0, 0.08376905250777396 ], "displacement_m": 1.9052507773953703e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188146567060816 ], "displacement_interval_m": [ 0.0, 0.08376293134120709 ], "displacement_m": 1.2931341207087548e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41908897853952953 ], "net_displacement_interval_m": [ 0.0, 0.08381779570789667 ], "net_displacement_m": 6.779570789666713e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323270886675806, 0.17834118496184437 ], "candidate_pixels": 4718, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382789317507446, -0.1086024268757975 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4718, "yaw_axis_rad": 0.09002722511688832, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215055432808416, 0.1783428043739237 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384197413061946, -0.1086103159457194 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09014373507194495, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321492583986512, 0.17834233851835252 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384091391009364, -0.10861164122137672 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4716, "yaw_axis_rad": 0.0901991526673438, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043213553968868224, 0.178906172269662 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138232722069115, -0.10862478800085067 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09037120887492955, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043214793154247665, 0.17891339329357703 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138091072943176, -0.10862993002544793 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09025583406736049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215519745911424, 0.17892179463855457 ], "candidate_pixels": 4715, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382012195121987, -0.10863348356309914 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4715, "yaw_axis_rad": 0.09035525734985494, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321419367574915, 0.17890500704231166 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.413855867076532, -0.10863591795633079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09015115716612021, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215211715484876, 0.17834336607858986 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41387457591179, -0.10863231552163113 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09007682857171107, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forged_encoder_only", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-02-unreleased.json", "timing_ms": [ { "actuator_observation": 0.984625, "baseline": 0.495792, "camera_observation": 17.282625, "fusion": 0.015291, "input_json_io": 1.45925, "png_io_decode": 7.0825, "processed_window": 27.320083 }, { "actuator_observation": 0.975292, "baseline": 0.489833, "camera_observation": 17.658417, "fusion": 0.014666, "input_json_io": 1.375209, "png_io_decode": 6.880458, "processed_window": 27.393875 }, { "actuator_observation": 0.975, "baseline": 0.523458, "camera_observation": 17.884375, "fusion": 0.01675, "input_json_io": 1.397292, "png_io_decode": 6.8785, "processed_window": 27.675375 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039711784098577396, "jaw_gap_min_m": 0.03770721007726306, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020244916639255623, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-02-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.188307017245155 ], "displacement_interval_m": [ 0.0, 0.08376614034489387 ], "displacement_m": 1.614034489386709e-05, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.187584859047286 ], "displacement_interval_m": [ 0.0, 0.0837516971809365 ], "displacement_m": 1.697180936503171e-06, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188600076704269 ], "displacement_interval_m": [ 0.0, 0.08377200153407614 ], "displacement_m": 2.2001534076133245e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188253467262114 ], "displacement_interval_m": [ 0.0, 0.08376506934523305 ], "displacement_m": 1.5069345233039614e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188078684492464 ], "displacement_interval_m": [ 0.0, 0.08376157368984005 ], "displacement_m": 1.1573689840047144e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.189291396281289 ], "displacement_interval_m": [ 0.0, 0.08378582792561656 ], "displacement_m": 3.582792561656149e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188452625389159 ], "displacement_interval_m": [ 0.0, 0.08376905250777396 ], "displacement_m": 1.9052507773953703e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188146567060816 ], "displacement_interval_m": [ 0.0, 0.08376293134120709 ], "displacement_m": 1.2931341207087548e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41908897853952953 ], "net_displacement_interval_m": [ 0.0, 0.08381779570789667 ], "net_displacement_m": 6.779570789666713e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323270886675806, 0.17834118496184437 ], "candidate_pixels": 4718, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382789317507446, -0.1086024268757975 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4718, "yaw_axis_rad": 0.09002722511688832, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215055432808416, 0.1783428043739237 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384197413061946, -0.1086103159457194 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09014373507194495, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321492583986512, 0.17834233851835252 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41384091391009364, -0.10861164122137672 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4716, "yaw_axis_rad": 0.0901991526673438, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043213553968868224, 0.178906172269662 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138232722069115, -0.10862478800085067 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09037120887492955, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043214793154247665, 0.17891339329357703 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138091072943176, -0.10862993002544793 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09025583406736049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215519745911424, 0.17892179463855457 ], "candidate_pixels": 4715, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41382012195121987, -0.10863348356309914 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4715, "yaw_axis_rad": 0.09035525734985494, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321419367574915, 0.17890500704231166 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.413855867076532, -0.10863591795633079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4717, "yaw_axis_rad": 0.09015115716612021, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043215211715484876, 0.17834336607858986 ], "candidate_pixels": 4716, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41387457591179, -0.10863231552163113 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4716, "yaw_axis_rad": 0.09007682857171107, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04321471505898257, 0.17834293736155052 ], "candidate_pixels": 4717, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4138871369514525, -0.10863538795845079 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4717, "yaw_axis_rad": 0.08997127269538518, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-02-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/ca70e22804fa295782369eb06f51d356c0bd88be0d7de8408dd4d83ca08e4e02.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-forged_effort_only", "layout_id": "fresh-02", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.002035221065701578, "complete": false, "linear_speed_m_s": 9.422530572473446e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.007364754416733807, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10410811131541729 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-02-unreleased.json", "timing_ms": [ { "actuator_observation": 0.971, "baseline": 0.48525, "camera_observation": 16.952167, "fusion": 0.014791, "input_json_io": 1.350625, "png_io_decode": 6.400958, "processed_window": 26.174791 }, { "actuator_observation": 0.99225, "baseline": 0.484792, "camera_observation": 17.012125, "fusion": 0.014167, "input_json_io": 1.369792, "png_io_decode": 6.633708, "processed_window": 26.506834 }, { "actuator_observation": 0.987958, "baseline": 0.481583, "camera_observation": 16.546, "fusion": 0.014334, "input_json_io": 1.368167, "png_io_decode": 6.42425, "processed_window": 25.822292 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-02-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791401278245004e-09, "upper": 2.6791401278245004e-09 }, "observed": 2.6791401278245004e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153124698699e-10, "upper": 9.189153124698699e-10 }, "observed": 9.189153124698699e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941506, "upper": 0.29429999906941506 }, "observed": 0.29429999906941506, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418360171483e-07, "upper": 1.0857418360171483e-07 }, "observed": 1.0857418360171483e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.044714508087524946, 0.15873655144350235 ], "candidate_pixels": 3904, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262544825819672, -0.11679207223360367 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4209, "yaw_axis_rad": 0.024148363882431134, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-02-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.412829, -0.117084 ], "goal_yaw_rad": -0.016596, "object_id": "shoe_trainer_left" }, "current_image": "images/a5e512fd4f8bdec0134db8f311e0d770335c7a5d362e0841dfc6f68ef70bb04e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/ec86147e8aa21a6b3ba54ea088bdff0bb4ce6a78bbfa4545d43e27c16a6f632b.png", "id": "fresh-02-all_channels_forged", "layout_id": "fresh-02", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02447763590062898, "complete": false, "linear_speed_m_s": 0.6097968122254507, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603136462373032, "present": true, "released": true, "supported": true, "yaw_error_rad": 6.39165634297792e-06 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-02-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-02-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.003542, "baseline": 0.489083, "camera_observation": 17.980292, "fusion": 0.014291, "input_json_io": 1.434542, "png_io_decode": 6.2625, "processed_window": 27.18425 }, { "actuator_observation": 0.9855, "baseline": 0.502875, "camera_observation": 17.997584, "fusion": 0.015083, "input_json_io": 1.508666, "png_io_decode": 6.054875, "processed_window": 27.064583 }, { "actuator_observation": 0.986334, "baseline": 0.518667, "camera_observation": 18.553458, "fusion": 0.014416, "input_json_io": 1.474708, "png_io_decode": 6.79625, "processed_window": 28.343833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042794043029299234, 0.20760219143533537 ], "candidate_pixels": 5223, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5681233247175952, -0.12700256078881533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5226, "yaw_axis_rad": -0.06781924961340202, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be62bde03409f753e81cf075477d04f522bad6399189593b13d252d6b06fd9bf.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_position", "layout_id": "fresh-03", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.5458195528373e-10, "complete": false, "linear_speed_m_s": 8.405169121733525e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999997005279738, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911832626120287e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-03-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.98425, "baseline": 0.484292, "camera_observation": 16.695041, "fusion": 0.0155, "input_json_io": 1.599083, "png_io_decode": 6.607667, "processed_window": 26.385833 }, { "actuator_observation": 0.968834, "baseline": 0.48725, "camera_observation": 17.722291, "fusion": 0.012958, "input_json_io": 1.3905, "png_io_decode": 6.328334, "processed_window": 26.910167 }, { "actuator_observation": 1.001792, "baseline": 0.546625, "camera_observation": 16.665208, "fusion": 0.015, "input_json_io": 1.397125, "png_io_decode": 6.19175, "processed_window": 25.8175 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04274626181621624, 0.2078149746127943 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4071252865876956, -0.1404508979747807 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 1.5033141892922774, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/593e13896b67a3eaa4f1f274bdff77d4ae5c86be6c6d9db84054ac79f6fc5db1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_orientation", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546324067929553e-10, "complete": false, "linear_speed_m_s": 8.405671769550844e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418367909795e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037162 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-03-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 1.093, "baseline": 0.481833, "camera_observation": 17.690167, "fusion": 0.016958, "input_json_io": 1.362083, "png_io_decode": 6.159667, "processed_window": 26.803708 }, { "actuator_observation": 1.138125, "baseline": 0.483125, "camera_observation": 17.670292, "fusion": 0.01975, "input_json_io": 1.43425, "png_io_decode": 6.745333, "processed_window": 27.490875 }, { "actuator_observation": 1.009583, "baseline": 0.511208, "camera_observation": 17.497667, "fusion": 0.016792, "input_json_io": 1.451166, "png_io_decode": 6.788417, "processed_window": 27.274833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-03-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/78b1e8f5694a44a3813b0e667afbe8fa5aa75d28a033d97c4fca3062e2e90c7e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-missing_target", "layout_id": "fresh-03", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-03-missing_target.json", "timing_ms": [ { "actuator_observation": 1.002708, "baseline": 0.484916, "camera_observation": 12.574834, "fusion": 0.004875, "input_json_io": 1.457834, "png_io_decode": 6.1705, "processed_window": 21.695667 }, { "actuator_observation": 0.999333, "baseline": 0.483958, "camera_observation": 13.68775, "fusion": 0.004459, "input_json_io": 1.523375, "png_io_decode": 6.203459, "processed_window": 22.902334 }, { "actuator_observation": 1.017417, "baseline": 0.490875, "camera_observation": 13.290292, "fusion": 0.004958, "input_json_io": 1.473833, "png_io_decode": 7.0625, "processed_window": 23.339875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-03-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/c86283697af271fc05c45e6bc7fabe617100c3eb0f974c053bf464c65a467fc2.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-wrong_object", "layout_id": "fresh-03", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-03-wrong_object.json", "timing_ms": [ { "actuator_observation": 1.009292, "baseline": 0.497708, "camera_observation": 13.009333, "fusion": 0.005083, "input_json_io": 1.403417, "png_io_decode": 7.619292, "processed_window": 23.544125 }, { "actuator_observation": 0.996333, "baseline": 0.495875, "camera_observation": 14.725, "fusion": 0.004375, "input_json_io": 1.433167, "png_io_decode": 6.4205, "processed_window": 24.07525 }, { "actuator_observation": 1.080416, "baseline": 0.486667, "camera_observation": 13.851042, "fusion": 0.005917, "input_json_io": 1.419959, "png_io_decode": 6.612666, "processed_window": 23.456667 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039456111539948824, "jaw_gap_min_m": 0.03745196802269663, "maximum_abs_drive_effort_n": 0.7754951305302551, "maximum_abs_jaw_rate_m_s": 0.002033314653847368, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188486016352328 ], "displacement_interval_m": [ 0.0, 0.08376972032703732 ], "displacement_m": 1.9720327037309042e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188011197802608 ], "displacement_interval_m": [ 0.0, 0.08376022395604295 ], "displacement_m": 1.0223956042936288e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.18783511820723 ], "displacement_interval_m": [ 0.0, 0.08375670236413538 ], "displacement_m": 6.7023641353679355e-06, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188195350627831 ], "displacement_interval_m": [ 0.0, 0.08376390701254739 ], "displacement_m": 1.3907012547384368e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187919874605035 ], "displacement_interval_m": [ 0.0, 0.08375839749209146 ], "displacement_m": 8.397492091454371e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187844528096397 ], "displacement_interval_m": [ 0.0, 0.0837568905619187 ], "displacement_m": 6.890561918703217e-06, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41895278411211795 ], "net_displacement_interval_m": [ 0.0, 0.08379055682241436 ], "net_displacement_m": 4.055682241435484e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297306771925358, 0.17832176342359674 ], "candidate_pixels": 4711, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107958766716199, -0.11911948100190671 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4711, "yaw_axis_rad": 0.04494558488932654, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04296140987838677, 0.17832377016118278 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080520169851403, -0.11912367303608967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045031657443928896, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294734278683149, 0.1783242322776561 ], "candidate_pixels": 4709, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080072733064366, -0.11912866319812748 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4709, "yaw_axis_rad": 0.04498570687583525, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-unreleased", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-03-unreleased.json", "timing_ms": [ { "actuator_observation": 0.981791, "baseline": 0.480583, "camera_observation": 17.205584, "fusion": 0.01375, "input_json_io": 1.582792, "png_io_decode": 6.879125, "processed_window": 27.143625 }, { "actuator_observation": 1.000083, "baseline": 0.502625, "camera_observation": 17.890459, "fusion": 0.014875, "input_json_io": 1.349792, "png_io_decode": 7.282291, "processed_window": 28.040125 }, { "actuator_observation": 0.978875, "baseline": 0.486334, "camera_observation": 17.190416, "fusion": 0.0145, "input_json_io": 1.335541, "png_io_decode": 6.472625, "processed_window": 26.478291 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 5.12083142766544 ], "displacement_interval_m": [ 0.0, 0.10241662855330888 ], "displacement_m": 0.018666628553308875, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.623601636397813 ], "displacement_interval_m": [ 0.0, 0.09247203272795634 ], "displacement_m": 0.008722032727956332, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.609147758863286 ], "displacement_interval_m": [ 0.0, 0.09218295517726581 ], "displacement_m": 0.008432955177265802, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.626735646647068 ], "displacement_interval_m": [ 0.0, 0.09253471293294145 ], "displacement_m": 0.008784712932941441, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.708236132637428 ], "displacement_interval_m": [ 0.0, 0.09416472265274864 ], "displacement_m": 0.010414722652748634, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.758505789443864 ], "displacement_interval_m": [ 0.0, 0.09517011578887735 ], "displacement_m": 0.011420115788877342, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.811271730080763 ], "displacement_interval_m": [ 0.0, 0.09622543460161534 ], "displacement_m": 0.01247543460161533, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.808004153744172 ], "displacement_interval_m": [ 0.0, 0.09616008307488351 ], "displacement_m": 0.012410083074883503, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.801231486392984 ], "displacement_interval_m": [ 0.0, 0.09602462972785977 ], "displacement_m": 0.012274629727859762, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.798910301909373 ], "displacement_interval_m": [ 0.0, 0.09597820603818755 ], "displacement_m": 0.012228206038187545, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.16023592668238829, 0.9977359266823876 ], "net_displacement_interval_m": [ 0.032047185336477685, 0.1995471853364777 ], "net_displacement_m": 0.11579718533647769, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04335417885183969, 0.17721142245187244 ], "candidate_pixels": 4380, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42702711187214604, -0.1288613013698618 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4545, "yaw_axis_rad": -0.03714075807727113, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308530665299677, 0.18202412776105364 ], "candidate_pixels": 4614, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4357317403554402, -0.12831057650628186 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4637, "yaw_axis_rad": -0.048719239517802215, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428746957295525, 0.1910249369450483 ], "candidate_pixels": 4846, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4441503301692116, -0.1278185617003682 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4849, "yaw_axis_rad": -0.05623745133564029, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04282240710921409, 0.2010954687690971 ], "candidate_pixels": 5054, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4529261476058567, -0.12742332805698126 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5057, "yaw_axis_rad": -0.06149222098552265, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04273321771451785, 0.203853892522824 ], "candidate_pixels": 5169, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46333659798800525, -0.12712504836525107 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5172, "yaw_axis_rad": -0.06598126180250752, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04273004532804328, 0.20791252269274257 ], "candidate_pixels": 5226, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.474756027554535, -0.12699985648679343 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5229, "yaw_axis_rad": -0.06772800008419466, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042732286565161495, 0.2078293806662567 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48723145933014356, -0.1270082535885134 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -0.06783739476909822, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042751270641838555, 0.20799202251386295 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49964154235991615, -0.12700719544845718 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": -0.06764329941317015, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0427702706396864, 0.20768893558441034 ], "candidate_pixels": 5222, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5119161719647644, -0.1270054576790468 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5225, "yaw_axis_rad": -0.06784328777271309, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04275357229255052, 0.20768376346965603 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5241443779904308, -0.12700490430621675 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -0.06783706464971395, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-sustained_motion", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-03-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.248375, "baseline": 0.627208, "camera_observation": 22.306792, "fusion": 0.015916, "input_json_io": 1.490541, "png_io_decode": 7.362334, "processed_window": 33.051166 }, { "actuator_observation": 1.09925, "baseline": 0.789792, "camera_observation": 19.960917, "fusion": 0.016125, "input_json_io": 1.754, "png_io_decode": 8.947375, "processed_window": 32.567459 }, { "actuator_observation": 1.202791, "baseline": 0.545625, "camera_observation": 21.619875, "fusion": 0.017542, "input_json_io": 2.566708, "png_io_decode": 9.124417, "processed_window": 35.076958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-instant_alias", "layout_id": "fresh-03", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-03-instant_alias.json", "timing_ms": [ { "actuator_observation": 1.072166, "baseline": 0.539, "camera_observation": 20.700042, "fusion": 0.019917, "input_json_io": 1.570167, "png_io_decode": 7.506833, "processed_window": 31.408125 }, { "actuator_observation": 1.174084, "baseline": 0.592125, "camera_observation": 21.579625, "fusion": 0.021791, "input_json_io": 1.559958, "png_io_decode": 11.447375, "processed_window": 36.374958 }, { "actuator_observation": 10.333542, "baseline": 0.563083, "camera_observation": 21.278625, "fusion": 0.018625, "input_json_io": 3.968042, "png_io_decode": 8.609083, "processed_window": 44.771 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04344109850511409, 0.19576824136941184 ], "candidate_pixels": 4742, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42941981231547866, -0.132782053985662 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4752, "yaw_axis_rad": -0.04580767401664154, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/3b9619c568e577356155a623170d0c2f5beb753036baec1d2d9b44f7ee0409e4.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-yaw_flip180", "layout_id": "fresh-03", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545571555938663e-10, "complete": false, "linear_speed_m_s": 8.404968041245966e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418345847427e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-03-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 2.065417, "baseline": 0.57225, "camera_observation": 24.305833, "fusion": 0.023208, "input_json_io": 1.903791, "png_io_decode": 7.727292, "processed_window": 36.597791 }, { "actuator_observation": 1.1635, "baseline": 0.542916, "camera_observation": 24.853375, "fusion": 0.022042, "input_json_io": 2.41275, "png_io_decode": 11.097042, "processed_window": 40.091625 }, { "actuator_observation": 1.301209, "baseline": 0.549791, "camera_observation": 19.932625, "fusion": 0.020375, "input_json_io": 1.579542, "png_io_decode": 7.457167, "processed_window": 30.840709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-lookalike_wrongobject", "layout_id": "fresh-03", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-03-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 1.145667, "baseline": 0.529167, "camera_observation": 19.443166, "fusion": 0.013417, "input_json_io": 1.504042, "png_io_decode": 7.2925, "processed_window": 29.927959 }, { "actuator_observation": 1.065708, "baseline": 0.568208, "camera_observation": 19.065417, "fusion": 0.0145, "input_json_io": 1.55375, "png_io_decode": 8.271209, "processed_window": 30.538792 }, { "actuator_observation": 0.996875, "baseline": 0.553541, "camera_observation": 17.440834, "fusion": 0.013208, "input_json_io": 1.510458, "png_io_decode": 6.857584, "processed_window": 27.3725 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324187801740721, 0.2090863767366166 ], "candidate_pixels": 4504, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40828513543516876, -0.12877359014209372 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4506, "yaw_axis_rad": -0.04166628285303098, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/be96f6b422b56fc3f04c202d2221feae40b9ef9e6b5a62557d70a9c0b8479696.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forgery-elevated_support", "layout_id": "fresh-03", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545823782001341e-10, "complete": false, "linear_speed_m_s": 8.405122152250802e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418338238117e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911834707788458e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-03-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-03-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.971083, "baseline": 0.471958, "camera_observation": 16.350667, "fusion": 0.013833, "input_json_io": 1.380875, "png_io_decode": 6.678667, "processed_window": 25.867083 }, { "actuator_observation": 0.971917, "baseline": 0.498625, "camera_observation": 17.902083, "fusion": 0.014416, "input_json_io": 1.400875, "png_io_decode": 6.714417, "processed_window": 27.502333 }, { "actuator_observation": 1.04675, "baseline": 0.543458, "camera_observation": 16.779667, "fusion": 0.011916, "input_json_io": 1.662375, "png_io_decode": 5.919459, "processed_window": 25.963625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-03-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_missing", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.907709, "baseline": 0.4645, "camera_observation": 0.002541, "fusion": 0.002625, "input_json_io": 1.347708, "png_io_decode": 0.000917, "processed_window": 2.726 }, { "actuator_observation": 0.894208, "baseline": 0.44725, "camera_observation": 0.0015, "fusion": 0.002333, "input_json_io": 1.263542, "png_io_decode": 0.000667, "processed_window": 2.6095 }, { "actuator_observation": 0.898625, "baseline": 0.451084, "camera_observation": 0.001416, "fusion": 0.002334, "input_json_io": 1.476375, "png_io_decode": 0.000791, "processed_window": 2.830625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-03-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_stale", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.999375, "baseline": 0.4815, "camera_observation": 0.008959, "fusion": 0.003833, "input_json_io": 1.342292, "png_io_decode": 6.880583, "processed_window": 9.716542 }, { "actuator_observation": 0.943875, "baseline": 0.473209, "camera_observation": 0.00825, "fusion": 0.003083, "input_json_io": 1.3145, "png_io_decode": 6.232375, "processed_window": 8.975292 }, { "actuator_observation": 0.934125, "baseline": 0.468166, "camera_observation": 0.008042, "fusion": 0.003375, "input_json_io": 1.354375, "png_io_decode": 5.956875, "processed_window": 8.724958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-03-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-camera_gap", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 1.028167, "baseline": 0.497084, "camera_observation": 0.005541, "fusion": 0.003417, "input_json_io": 1.335083, "png_io_decode": 5.6615, "processed_window": 8.530792 }, { "actuator_observation": 0.92625, "baseline": 0.460625, "camera_observation": 0.004042, "fusion": 0.003042, "input_json_io": 1.288125, "png_io_decode": 5.214166, "processed_window": 7.89625 }, { "actuator_observation": 1.012875, "baseline": 0.483666, "camera_observation": 0.00525, "fusion": 0.003625, "input_json_io": 1.240041, "png_io_decode": 5.920959, "processed_window": 8.666416 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_missing", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.004791, "baseline": 0.466375, "camera_observation": 17.215417, "fusion": 0.015167, "input_json_io": 0.570792, "png_io_decode": 6.21575, "processed_window": 24.488292 }, { "actuator_observation": 0.004709, "baseline": 0.472791, "camera_observation": 16.326625, "fusion": 0.013458, "input_json_io": 0.627625, "png_io_decode": 6.084667, "processed_window": 23.529875 }, { "actuator_observation": 0.004, "baseline": 0.470959, "camera_observation": 16.341583, "fusion": 0.013083, "input_json_io": 0.616333, "png_io_decode": 6.769708, "processed_window": 24.215666 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-03-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_stale", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.033041, "baseline": 0.462875, "camera_observation": 17.46125, "fusion": 0.015, "input_json_io": 1.352, "png_io_decode": 6.280084, "processed_window": 25.60425 }, { "actuator_observation": 0.030417, "baseline": 0.473208, "camera_observation": 16.143125, "fusion": 0.013541, "input_json_io": 1.4195, "png_io_decode": 6.320542, "processed_window": 24.400333 }, { "actuator_observation": 0.035208, "baseline": 0.479917, "camera_observation": 16.62725, "fusion": 0.015708, "input_json_io": 1.354, "png_io_decode": 6.605917, "processed_window": 25.118 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-03-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_gap", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 0.006042, "baseline": 0.522167, "camera_observation": 19.42275, "fusion": 0.01825, "input_json_io": 1.466125, "png_io_decode": 7.423833, "processed_window": 28.859167 }, { "actuator_observation": 0.005583, "baseline": 0.520958, "camera_observation": 18.146375, "fusion": 0.016334, "input_json_io": 1.549958, "png_io_decode": 6.655167, "processed_window": 26.894375 }, { "actuator_observation": 0.006041, "baseline": 0.546417, "camera_observation": 18.732417, "fusion": 0.019084, "input_json_io": 1.460458, "png_io_decode": 6.249, "processed_window": 27.013417 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-03-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-fault-actuator_wrong_units", "layout_id": "fresh-03", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545869106482184e-10, "complete": true, "linear_speed_m_s": 8.405229625970061e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418352714331e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831238341506e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-03-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-03-complete.json", "timing_ms": [ { "actuator_observation": 1.074167, "baseline": 0.867125, "camera_observation": 19.408042, "fusion": 0.018875, "input_json_io": 1.562416, "png_io_decode": 7.29225, "processed_window": 30.222875 }, { "actuator_observation": 0.983167, "baseline": 0.543917, "camera_observation": 18.758083, "fusion": 0.0185, "input_json_io": 1.5755, "png_io_decode": 7.167166, "processed_window": 29.046333 }, { "actuator_observation": 0.985875, "baseline": 0.542917, "camera_observation": 18.139291, "fusion": 0.013792, "input_json_io": 1.597958, "png_io_decode": 6.696125, "processed_window": 27.975958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-03-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-03-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-refreshed_camera_replay", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-03-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.0745, "baseline": 0.503125, "camera_observation": 17.9725, "fusion": 0.013208, "input_json_io": 1.541541, "png_io_decode": 7.175959, "processed_window": 28.280833 }, { "actuator_observation": 1.0995, "baseline": 0.529584, "camera_observation": 18.676083, "fusion": 0.012792, "input_json_io": 1.563958, "png_io_decode": 6.585125, "processed_window": 28.467042 }, { "actuator_observation": 1.027916, "baseline": 0.499416, "camera_observation": 18.298209, "fusion": 0.012167, "input_json_io": 1.459625, "png_io_decode": 7.181042, "processed_window": 28.478375 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7754951305302551, "maximum_abs_jaw_rate_m_s": 0.002033314653847368, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-03-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188486016352328 ], "displacement_interval_m": [ 0.0, 0.08376972032703732 ], "displacement_m": 1.9720327037309042e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188011197802608 ], "displacement_interval_m": [ 0.0, 0.08376022395604295 ], "displacement_m": 1.0223956042936288e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.18783511820723 ], "displacement_interval_m": [ 0.0, 0.08375670236413538 ], "displacement_m": 6.7023641353679355e-06, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188195350627831 ], "displacement_interval_m": [ 0.0, 0.08376390701254739 ], "displacement_m": 1.3907012547384368e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187919874605035 ], "displacement_interval_m": [ 0.0, 0.08375839749209146 ], "displacement_m": 8.397492091454371e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187844528096397 ], "displacement_interval_m": [ 0.0, 0.0837568905619187 ], "displacement_m": 6.890561918703217e-06, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41895278411211795 ], "net_displacement_interval_m": [ 0.0, 0.08379055682241436 ], "net_displacement_m": 4.055682241435484e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297306771925358, 0.17832176342359674 ], "candidate_pixels": 4711, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107958766716199, -0.11911948100190671 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4711, "yaw_axis_rad": 0.04494558488932654, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04296140987838677, 0.17832377016118278 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080520169851403, -0.11912367303608967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045031657443928896, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294734278683149, 0.1783242322776561 ], "candidate_pixels": 4709, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080072733064366, -0.11912866319812748 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4709, "yaw_axis_rad": 0.04498570687583525, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forged_encoder_only", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-03-unreleased.json", "timing_ms": [ { "actuator_observation": 1.159917, "baseline": 0.522333, "camera_observation": 22.540958, "fusion": 0.016292, "input_json_io": 1.447, "png_io_decode": 7.276875, "processed_window": 32.963375 }, { "actuator_observation": 1.064709, "baseline": 0.526917, "camera_observation": 18.145666, "fusion": 0.013541, "input_json_io": 1.518417, "png_io_decode": 7.231708, "processed_window": 28.500958 }, { "actuator_observation": 1.174375, "baseline": 0.8365, "camera_observation": 18.650416, "fusion": 0.018209, "input_json_io": 1.499333, "png_io_decode": 7.655167, "processed_window": 29.834 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.039456111539948824, "jaw_gap_min_m": 0.03745196802269663, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002033314653847368, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-03-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694154, "upper": 0.2942999990694154 }, "observed": 0.2942999990694154, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188486016352328 ], "displacement_interval_m": [ 0.0, 0.08376972032703732 ], "displacement_m": 1.9720327037309042e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188011197802608 ], "displacement_interval_m": [ 0.0, 0.08376022395604295 ], "displacement_m": 1.0223956042936288e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.18783511820723 ], "displacement_interval_m": [ 0.0, 0.08375670236413538 ], "displacement_m": 6.7023641353679355e-06, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188195350627831 ], "displacement_interval_m": [ 0.0, 0.08376390701254739 ], "displacement_m": 1.3907012547384368e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187919874605035 ], "displacement_interval_m": [ 0.0, 0.08375839749209146 ], "displacement_m": 8.397492091454371e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.187844528096397 ], "displacement_interval_m": [ 0.0, 0.0837568905619187 ], "displacement_m": 6.890561918703217e-06, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41895278411211795 ], "net_displacement_interval_m": [ 0.0, 0.08379055682241436 ], "net_displacement_m": 4.055682241435484e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04300581696024225, 0.17832148195851988 ], "candidate_pixels": 4713, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41081304370889055, -0.11910977615106778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4713, "yaw_axis_rad": 0.0451019507509689, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297306771925358, 0.17832176342359674 ], "candidate_pixels": 4711, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107958766716199, -0.11911948100190671 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4711, "yaw_axis_rad": 0.04494558488932654, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04296140987838677, 0.17832377016118278 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080520169851403, -0.11912367303608967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045031657443928896, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294734278683149, 0.1783242322776561 ], "candidate_pixels": 4709, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41080072733064366, -0.11912866319812748 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4709, "yaw_axis_rad": 0.04498570687583525, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295083536533291, 0.17832458137273818 ], "candidate_pixels": 4710, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4107876857749472, -0.11913349256899838 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4710, "yaw_axis_rad": 0.045100530816955864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042917128847180575, 0.17828385802943603 ], "candidate_pixels": 4707, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.410794694072658, -0.11913811875929088 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4707, "yaw_axis_rad": 0.044996856513386696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042905099167254455, 0.17828516696567448 ], "candidate_pixels": 4706, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41078994900127525, -0.1191431151721169 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4706, "yaw_axis_rad": 0.04494832298214568, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-03-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/63c48157c4b9be277020aff833356928b138144c320ee65f89f214b3f8668f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-forged_effort_only", "layout_id": "fresh-03", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0017606516223982788, "complete": false, "linear_speed_m_s": 0.0001193147939398041, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.009202178640230525, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.11349369609105886 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-03-unreleased.json", "timing_ms": [ { "actuator_observation": 0.958542, "baseline": 0.561708, "camera_observation": 18.047917, "fusion": 0.012583, "input_json_io": 1.523125, "png_io_decode": 7.7645, "processed_window": 28.868375 }, { "actuator_observation": 1.119458, "baseline": 0.472667, "camera_observation": 18.041625, "fusion": 0.018042, "input_json_io": 1.325292, "png_io_decode": 6.775083, "processed_window": 27.752167 }, { "actuator_observation": 1.014667, "baseline": 0.470958, "camera_observation": 16.547125, "fusion": 0.011083, "input_json_io": 1.525959, "png_io_decode": 7.161458, "processed_window": 26.73125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-03-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6791173961461156e-09, "upper": 2.6791173961461156e-09 }, "observed": 2.6791173961461156e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915387034141e-10, "upper": 9.18915387034141e-10 }, "observed": 9.18915387034141e-10, 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"pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418352714331e-07, "upper": 1.0857418352714331e-07 }, "observed": 1.0857418352714331e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.196564277689994e-09, "upper": 2.196564277689994e-09 }, "observed": 2.196564277689994e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04324315239402729, 0.2090813923063145 ], "candidate_pixels": 4508, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40836069210292814, -0.12877301464063665 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4511, "yaw_axis_rad": -0.04144143452311777, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-03-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.40942, -0.129271 ], "goal_yaw_rad": -0.06837, "object_id": "shoe_trainer_left" }, "current_image": "images/224ae6b399b31d6ead27757003054c0e21cf3a1669cd9266e9abef4eaef8f025.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/f0067b52b08529989f29ab53a7794d15f31a3a65f175ef31c7151d7dba8825cc.png", "id": "fresh-03-all_channels_forged", "layout_id": "fresh-03", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495351896636396, "complete": false, "linear_speed_m_s": 0.6099510833712811, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.1260334537014029, "present": true, "released": true, "supported": true, "yaw_error_rad": 7.753958093242863e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-03-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-03-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.964209, "baseline": 0.491709, "camera_observation": 16.365791, "fusion": 0.013666, "input_json_io": 1.40375, "png_io_decode": 6.158916, "processed_window": 25.398041 }, { "actuator_observation": 0.966208, "baseline": 0.480625, "camera_observation": 16.478208, "fusion": 0.0135, "input_json_io": 1.433458, "png_io_decode": 6.541667, "processed_window": 25.913666 }, { "actuator_observation": 1.003667, "baseline": 0.513459, "camera_observation": 18.063583, "fusion": 0.015375, "input_json_io": 1.392458, "png_io_decode": 6.518208, "processed_window": 27.50675 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04291951325650718, 0.2078205932801091 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5515719769216096, -0.1442455416746161 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5246, "yaw_axis_rad": -0.07361228142023002, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7741fdc5c20dd5ee0623d0bc5d61acbda181412efd4388e9e1f5b0a38534293e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_position", "layout_id": "fresh-04", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545350784916803e-10, "complete": false, "linear_speed_m_s": 8.404683633306893e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996950551746, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911838732346922e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-04-wrong_position.json", "timing_ms": [ { "actuator_observation": 1.03975, "baseline": 0.500916, "camera_observation": 17.345459, "fusion": 0.012458, "input_json_io": 1.809583, "png_io_decode": 6.505084, "processed_window": 27.21325 }, { "actuator_observation": 1.03325, "baseline": 0.515209, "camera_observation": 17.448791, "fusion": 0.015125, "input_json_io": 1.683709, "png_io_decode": 6.627041, "processed_window": 27.323125 }, { "actuator_observation": 0.973458, "baseline": 0.51675, "camera_observation": 16.477708, "fusion": 0.013584, "input_json_io": 1.443, "png_io_decode": 7.091667, "processed_window": 26.516167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289278366330158, 0.20780249939678697 ], "candidate_pixels": 5229, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3904966293746411, -0.15799208739720755 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5232, "yaw_axis_rad": 1.496237825625144, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/7685073843e4aa5db281438a69635db5f0610316082d2620d97ce81e39d15039.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_orientation", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545087637567077e-10, "complete": false, "linear_speed_m_s": 8.40451987767496e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418333415149e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037169 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-04-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.96525, "baseline": 0.470875, "camera_observation": 17.684708, "fusion": 0.014417, "input_json_io": 1.391875, "png_io_decode": 6.646375, "processed_window": 27.1735 }, { "actuator_observation": 0.999208, "baseline": 0.530917, "camera_observation": 18.967542, "fusion": 0.01675, "input_json_io": 1.373791, "png_io_decode": 6.281125, "processed_window": 28.169333 }, { "actuator_observation": 1.038708, "baseline": 0.495458, "camera_observation": 17.989667, "fusion": 0.012375, "input_json_io": 1.457875, "png_io_decode": 6.555, "processed_window": 27.549083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-04-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/18337c7013616fa0945ad709cba4d57d5bc8cd15a1d001e227d4a35e0f6cf724.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-missing_target", "layout_id": "fresh-04", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-04-missing_target.json", "timing_ms": [ { "actuator_observation": 1.09075, "baseline": 0.4715, "camera_observation": 11.461, "fusion": 0.003875, "input_json_io": 1.469833, "png_io_decode": 6.03425, "processed_window": 20.531208 }, { "actuator_observation": 0.900167, "baseline": 0.439875, "camera_observation": 11.597833, "fusion": 0.003458, "input_json_io": 1.374292, "png_io_decode": 5.842208, "processed_window": 20.157833 }, { "actuator_observation": 0.917583, "baseline": 0.427875, "camera_observation": 11.534792, "fusion": 0.003542, "input_json_io": 1.287916, "png_io_decode": 5.299875, "processed_window": 19.471583 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-04-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/8d8b0c251a929e2a4cb2ba5883d3260c881355db3b9e54113e356d465fbf2699.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-wrong_object", "layout_id": "fresh-04", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-04-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.951958, "baseline": 0.450417, "camera_observation": 11.173958, "fusion": 0.003042, "input_json_io": 1.249208, "png_io_decode": 6.051292, "processed_window": 19.879875 }, { "actuator_observation": 0.901167, "baseline": 0.444916, "camera_observation": 11.5105, "fusion": 0.002833, "input_json_io": 4.514167, "png_io_decode": 6.145042, "processed_window": 23.518625 }, { "actuator_observation": 0.889833, "baseline": 0.4315, "camera_observation": 11.223, "fusion": 0.002917, "input_json_io": 1.271166, "png_io_decode": 5.782334, "processed_window": 19.60075 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008375094874833, "jaw_gap_min_m": 0.038082011567563565, "maximum_abs_drive_effort_n": 0.7887929746919123, "maximum_abs_jaw_rate_m_s": 0.002013967994096862, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188251546514547 ], "displacement_interval_m": [ 0.0, 0.08376503093028172 ], "displacement_m": 1.5030930281712658e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188380578158487 ], "displacement_interval_m": [ 0.0, 0.08376761156316051 ], "displacement_m": 1.7611563160509218e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.1883929932598125 ], "displacement_interval_m": [ 0.0, 0.08376785986518703 ], "displacement_m": 1.7859865187027096e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41886735745506476 ], "net_displacement_interval_m": [ 0.0, 0.08377347149100373 ], "net_displacement_m": 2.3471491003721198e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430837152387047, 0.1778644067933349 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930848758827305, -0.14472381232613118 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08193588053979539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308296628765269, 0.17786401772951688 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39306803594351725, -0.14471865639709264 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08206953733914091, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-unreleased", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-04-unreleased.json", "timing_ms": [ { "actuator_observation": 0.838708, "baseline": 0.39875, "camera_observation": 15.168792, "fusion": 0.010917, "input_json_io": 1.21025, "png_io_decode": 6.020708, "processed_window": 23.648125 }, { "actuator_observation": 0.825541, "baseline": 0.423625, "camera_observation": 14.082875, "fusion": 0.009459, "input_json_io": 1.12625, "png_io_decode": 5.55, "processed_window": 22.01775 }, { "actuator_observation": 0.869875, "baseline": 0.409875, "camera_observation": 14.496667, "fusion": 0.011625, "input_json_io": 1.108458, "png_io_decode": 5.538625, "processed_window": 22.435125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.8547219215035815 ], "displacement_interval_m": [ 0.0, 0.09709443843007172 ], "displacement_m": 0.01334443843007172, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.828160946204805 ], "displacement_interval_m": [ 0.0, 0.09656321892409618 ], "displacement_m": 0.012813218924096176, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.819124965181434 ], "displacement_interval_m": [ 0.0, 0.09638249930362876 ], "displacement_m": 0.012632499303628749, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.772524183670176 ], "displacement_interval_m": [ 0.0, 0.0954504836734036 ], "displacement_m": 0.011700483673403596, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.770069057615581 ], "displacement_interval_m": [ 0.0, 0.09540138115231171 ], "displacement_m": 0.011651381152311712, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.801823427216073 ], "displacement_interval_m": [ 0.0, 0.09603646854432155 ], "displacement_m": 0.012286468544321548, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.810927066214302 ], "displacement_interval_m": [ 0.0, 0.09621854132428613 ], "displacement_m": 0.012468541324286124, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8042683463747275 ], "displacement_interval_m": [ 0.0, 0.09608536692749463 ], "displacement_m": 0.012335366927494623, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.804743198878354 ], "displacement_interval_m": [ 0.0, 0.09609486397756717 ], "displacement_m": 0.012344863977567158, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.803700880411384 ], "displacement_interval_m": [ 0.0, 0.09607401760822777 ], "displacement_m": 0.012324017608227772, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.20074559109712797, 1.0382455910971273 ], "net_displacement_interval_m": [ 0.04014911821942563, 0.20764911821942564 ], "net_displacement_m": 0.12389911821942563, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305636349704371, 0.20816433535608175 ], "candidate_pixels": 5067, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39709628478389597, -0.1448543270179609 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5070, "yaw_axis_rad": -0.06284952753659923, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04301097079152966, 0.20799265201843137 ], "candidate_pixels": 5077, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.40990927220799683, -0.14477730451053938 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5080, "yaw_axis_rad": -0.06371628539771557, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042944031436081685, 0.2081600010489687 ], "candidate_pixels": 5111, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4225412101350028, -0.14465821267853843 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5114, "yaw_axis_rad": -0.06597975924093191, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429262213199884, 0.20703580318799591 ], "candidate_pixels": 5176, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4342397604327668, -0.14444551777434533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5179, "yaw_axis_rad": -0.06998154087892239, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042915004317506486, 0.2070907901487215 ], "candidate_pixels": 5228, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4458901587605205, -0.14429418515685014 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5231, "yaw_axis_rad": -0.07273048102523738, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04293980221563529, 0.20777858748985112 ], "candidate_pixels": 5244, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45817648741418754, -0.1442355549199108 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5247, "yaw_axis_rad": -0.07354235582157109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042900933848638426, 0.20787217901987037 ], "candidate_pixels": 5243, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47064502670226954, -0.14424268071714902 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5246, "yaw_axis_rad": -0.0735773655988412, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042898103767962145, 0.20797549053353093 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48298039355822375, -0.1442413522012602 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": -0.07364601601423182, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04290126065604802, 0.2078227359762907 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49532525753529205, -0.14424146318199393 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07363443382643808, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04289599129675575, 0.2078155051629002 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5076492750858453, -0.14424265547501186 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.07371904975126675, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-sustained_motion", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-04-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.845834, "baseline": 0.410958, "camera_observation": 14.364125, "fusion": 0.010375, "input_json_io": 1.217583, "png_io_decode": 6.07225, "processed_window": 22.921125 }, { "actuator_observation": 0.860916, "baseline": 0.401917, "camera_observation": 14.337542, "fusion": 0.01025, "input_json_io": 1.173583, "png_io_decode": 5.290083, "processed_window": 22.074291 }, { "actuator_observation": 0.798, "baseline": 0.40275, "camera_observation": 14.574458, "fusion": 0.010375, "input_json_io": 1.191417, "png_io_decode": 5.443417, "processed_window": 22.420417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-instant_alias", "layout_id": "fresh-04", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-04-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.790625, "baseline": 0.39325, "camera_observation": 14.020292, "fusion": 0.0085, "input_json_io": 1.10975, "png_io_decode": 5.064083, "processed_window": 21.3865 }, { "actuator_observation": 0.802042, "baseline": 0.374833, "camera_observation": 13.722458, "fusion": 0.00975, "input_json_io": 1.1015, "png_io_decode": 4.783792, "processed_window": 20.794375 }, { "actuator_observation": 0.808625, "baseline": 0.392666, "camera_observation": 13.507042, "fusion": 0.008708, "input_json_io": 1.099042, "png_io_decode": 5.070417, "processed_window": 20.8865 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04297960896205878, 0.2082514783836762 ], "candidate_pixels": 5116, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4058004300234558, -0.1494314405785773 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5119, "yaw_axis_rad": -0.06421729608388027, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/06f42aa509969f6691d2b2cf437670396af3281c40f6d558ea3c73fa6ad677b2.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-yaw_flip180", "layout_id": "fresh-04", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545323934370644e-10, "complete": false, "linear_speed_m_s": 8.404693016049237e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418302683053e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986094 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-04-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.806583, "baseline": 0.375333, "camera_observation": 13.748625, "fusion": 0.00875, "input_json_io": 1.093, "png_io_decode": 4.864834, "processed_window": 20.897125 }, { "actuator_observation": 0.799459, "baseline": 0.383625, "camera_observation": 13.552, "fusion": 0.009875, "input_json_io": 1.10275, "png_io_decode": 4.7605, "processed_window": 20.608209 }, { "actuator_observation": 0.849208, "baseline": 0.420375, "camera_observation": 13.739542, "fusion": 0.009792, "input_json_io": 1.116458, "png_io_decode": 5.123625, "processed_window": 21.259 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-lookalike_wrongobject", "layout_id": "fresh-04", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-04-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.776167, "baseline": 0.37725, "camera_observation": 13.22225, "fusion": 0.008708, "input_json_io": 1.090958, "png_io_decode": 4.906083, "processed_window": 20.381416 }, { "actuator_observation": 0.79775, "baseline": 0.378, "camera_observation": 13.557042, "fusion": 0.008625, "input_json_io": 1.10675, "png_io_decode": 4.974625, "processed_window": 20.822792 }, { "actuator_observation": 0.792417, "baseline": 0.381541, "camera_observation": 13.210542, "fusion": 0.009333, "input_json_io": 1.110625, "png_io_decode": 5.197959, "processed_window": 20.702417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04305257013051679, 0.20830794981323672 ], "candidate_pixels": 5047, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3836376808004755, -0.1449320140677644 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5050, "yaw_axis_rad": -0.0637538200592278, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/14b234fbf12884785701047fece849c794434cceed78956bc1bdd8bc47c01f08.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forgery-elevated_support", "layout_id": "fresh-04", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545302020576641e-10, "complete": false, "linear_speed_m_s": 8.404705087605508e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.085741830534689e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911837899679654e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-04-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-04-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.784834, "baseline": 0.378291, "camera_observation": 13.58225, "fusion": 0.009458, "input_json_io": 1.116625, "png_io_decode": 5.004959, "processed_window": 20.876417 }, { "actuator_observation": 0.792875, "baseline": 0.371417, "camera_observation": 13.233458, "fusion": 0.00925, "input_json_io": 1.123542, "png_io_decode": 4.86475, "processed_window": 20.395292 }, { "actuator_observation": 0.761375, "baseline": 0.382083, "camera_observation": 13.303667, "fusion": 0.00825, "input_json_io": 1.098458, "png_io_decode": 5.171167, "processed_window": 20.725 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-04-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_missing", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.709625, "baseline": 0.346125, "camera_observation": 0.001, "fusion": 0.001875, "input_json_io": 0.976, "png_io_decode": 0.0005, "processed_window": 2.035125 }, { "actuator_observation": 0.705167, "baseline": 0.345708, "camera_observation": 0.001042, "fusion": 0.001666, "input_json_io": 0.966667, "png_io_decode": 0.0005, "processed_window": 2.02075 }, { "actuator_observation": 0.709208, "baseline": 0.347375, "camera_observation": 0.000834, "fusion": 0.001667, "input_json_io": 0.970167, "png_io_decode": 0.000458, "processed_window": 2.029709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-04-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_stale", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.75825, "baseline": 0.363625, "camera_observation": 0.009375, "fusion": 0.002208, "input_json_io": 1.048875, "png_io_decode": 4.858959, "processed_window": 7.041292 }, { "actuator_observation": 0.725666, "baseline": 0.359167, "camera_observation": 0.005625, "fusion": 0.002584, "input_json_io": 1.032, "png_io_decode": 4.544417, "processed_window": 6.669459 }, { "actuator_observation": 0.732708, "baseline": 0.402875, "camera_observation": 0.005625, "fusion": 0.002584, "input_json_io": 1.015458, "png_io_decode": 4.43875, "processed_window": 6.598 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-04-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-camera_gap", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.728917, "baseline": 0.363125, "camera_observation": 0.003125, "fusion": 0.002167, "input_json_io": 0.964875, "png_io_decode": 4.209041, "processed_window": 6.27125 }, { "actuator_observation": 0.741667, "baseline": 0.366792, "camera_observation": 0.002833, "fusion": 0.002167, "input_json_io": 0.983542, "png_io_decode": 4.044291, "processed_window": 6.141292 }, { "actuator_observation": 0.719875, "baseline": 0.352042, "camera_observation": 0.002958, "fusion": 0.001958, "input_json_io": 1.005833, "png_io_decode": 4.4555, "processed_window": 6.538166 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_missing", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.002875, "baseline": 0.361, "camera_observation": 13.031291, "fusion": 0.009334, "input_json_io": 0.461917, "png_io_decode": 4.590417, "processed_window": 18.456834 }, { "actuator_observation": 0.002625, "baseline": 0.371417, "camera_observation": 12.908958, "fusion": 0.009125, "input_json_io": 0.4145, "png_io_decode": 4.56775, "processed_window": 18.274375 }, { "actuator_observation": 0.003, "baseline": 0.375292, "camera_observation": 12.957375, "fusion": 0.0095, "input_json_io": 0.417125, "png_io_decode": 4.788042, "processed_window": 18.550334 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-04-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_stale", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.018458, "baseline": 0.36525, "camera_observation": 12.99525, "fusion": 0.012084, "input_json_io": 1.093166, "png_io_decode": 4.747292, "processed_window": 19.2315 }, { "actuator_observation": 0.021583, "baseline": 0.353167, "camera_observation": 12.91675, "fusion": 0.014833, "input_json_io": 1.052166, "png_io_decode": 4.701292, "processed_window": 19.059791 }, { "actuator_observation": 0.025792, "baseline": 0.358958, "camera_observation": 13.40975, "fusion": 0.0105, "input_json_io": 1.064, "png_io_decode": 4.767625, "processed_window": 19.636625 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-04-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_gap", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.002958, "baseline": 0.397666, "camera_observation": 12.961459, "fusion": 0.010333, "input_json_io": 1.064, "png_io_decode": 5.291334, "processed_window": 19.72775 }, { "actuator_observation": 0.002709, "baseline": 0.365125, "camera_observation": 13.004583, "fusion": 0.008791, "input_json_io": 1.164666, "png_io_decode": 4.530667, "processed_window": 19.076541 }, { "actuator_observation": 0.004708, "baseline": 0.362625, "camera_observation": 13.877292, "fusion": 0.012292, "input_json_io": 1.057583, "png_io_decode": 4.686333, "processed_window": 20.000833 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-04-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-fault-actuator_wrong_units", "layout_id": "fresh-04", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545244634283668e-10, "complete": true, "linear_speed_m_s": 8.404587021881734e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418292027713e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.191183900990268e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-04-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-04-complete.json", "timing_ms": [ { "actuator_observation": 0.684625, "baseline": 0.366792, "camera_observation": 13.446083, "fusion": 0.01175, "input_json_io": 1.039834, "png_io_decode": 4.638458, "processed_window": 20.187542 }, { "actuator_observation": 0.672792, "baseline": 0.364292, "camera_observation": 12.910333, "fusion": 0.0085, "input_json_io": 1.105375, "png_io_decode": 4.933583, "processed_window": 19.994875 }, { "actuator_observation": 0.667625, "baseline": 0.365916, "camera_observation": 12.792167, "fusion": 0.009417, "input_json_io": 1.02325, "png_io_decode": 4.567334, "processed_window": 19.425709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-04-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-04-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-refreshed_camera_replay", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-04-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.767209, "baseline": 0.364334, "camera_observation": 12.989291, "fusion": 0.009458, "input_json_io": 1.082, "png_io_decode": 4.75425, "processed_window": 19.966542 }, { "actuator_observation": 0.769791, "baseline": 0.360625, "camera_observation": 12.874042, "fusion": 0.00925, "input_json_io": 1.053084, "png_io_decode": 4.734208, "processed_window": 19.801 }, { "actuator_observation": 0.771667, "baseline": 0.368416, "camera_observation": 12.98075, "fusion": 0.008375, "input_json_io": 1.059542, "png_io_decode": 4.75125, "processed_window": 19.94 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7887929746919123, "maximum_abs_jaw_rate_m_s": 0.002013967994096862, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-04-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188251546514547 ], "displacement_interval_m": [ 0.0, 0.08376503093028172 ], "displacement_m": 1.5030930281712658e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188380578158487 ], "displacement_interval_m": [ 0.0, 0.08376761156316051 ], "displacement_m": 1.7611563160509218e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.1883929932598125 ], "displacement_interval_m": [ 0.0, 0.08376785986518703 ], "displacement_m": 1.7859865187027096e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41886735745506476 ], "net_displacement_interval_m": [ 0.0, 0.08377347149100373 ], "net_displacement_m": 2.3471491003721198e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430837152387047, 0.1778644067933349 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930848758827305, -0.14472381232613118 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08193588053979539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308296628765269, 0.17786401772951688 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39306803594351725, -0.14471865639709264 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08206953733914091, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forged_encoder_only", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-04-unreleased.json", "timing_ms": [ { "actuator_observation": 0.776291, "baseline": 0.363916, "camera_observation": 12.846834, "fusion": 0.009959, "input_json_io": 1.024166, "png_io_decode": 5.493834, "processed_window": 20.515 }, { "actuator_observation": 0.760958, "baseline": 0.362583, "camera_observation": 12.902417, "fusion": 0.009042, "input_json_io": 1.029583, "png_io_decode": 4.995584, "processed_window": 20.060167 }, { "actuator_observation": 0.841291, "baseline": 0.382208, "camera_observation": 13.061834, "fusion": 0.009292, "input_json_io": 1.024041, "png_io_decode": 5.423417, "processed_window": 20.742083 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008375094874833, "jaw_gap_min_m": 0.038082011567563565, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002013967994096862, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-04-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188367846493091 ], "displacement_interval_m": [ 0.0, 0.0837673569298526 ], "displacement_m": 1.7356929852600582e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188251546514547 ], "displacement_interval_m": [ 0.0, 0.08376503093028172 ], "displacement_m": 1.5030930281712658e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188380578158487 ], "displacement_interval_m": [ 0.0, 0.08376761156316051 ], "displacement_m": 1.7611563160509218e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.1883929932598125 ], "displacement_interval_m": [ 0.0, 0.08376785986518703 ], "displacement_m": 1.7859865187027096e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41886735745506476 ], "net_displacement_interval_m": [ 0.0, 0.08377347149100373 ], "net_displacement_m": 2.3471491003721198e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308454646728668, 0.1778611516669964 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930867483415364, -0.14473210464370018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08167458784112114, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043083723434450334, 0.17786076206080012 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930701754385964, -0.14472694694052438 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08180717771976109, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430837152387047, 0.1778644067933349 ], "candidate_pixels": 4673, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930848758827305, -0.14472381232613118 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4673, "yaw_axis_rad": -0.08193588053979539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308296628765269, 0.17786401772951688 ], "candidate_pixels": 4674, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39306803594351725, -0.14471865639709264 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4674, "yaw_axis_rad": -0.08206953733914091, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04308229428267296, 0.17786363192524907 ], "candidate_pixels": 4675, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3930509358288769, -0.14471350267379915 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4675, "yaw_axis_rad": -0.08220425575892687, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-04-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/f0999dfca5b4c6adb957d3395c0f55860e3746dec538787947fab42b783ed7cd.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-forged_effort_only", "layout_id": "fresh-04", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0024702316095262648, "complete": false, "linear_speed_m_s": 6.298062470318402e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0005339352224412614, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004665014580772633 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-04-unreleased.json", "timing_ms": [ { "actuator_observation": 0.750167, "baseline": 0.386917, "camera_observation": 13.089583, "fusion": 0.008875, "input_json_io": 1.111042, "png_io_decode": 5.129208, "processed_window": 20.475792 }, { "actuator_observation": 0.772459, "baseline": 0.361208, "camera_observation": 12.621208, "fusion": 0.009625, "input_json_io": 1.066291, "png_io_decode": 4.803459, "processed_window": 19.63425 }, { "actuator_observation": 0.760834, "baseline": 0.361417, "camera_observation": 12.809166, "fusion": 0.009041, "input_json_io": 1.064417, "png_io_decode": 5.091625, "processed_window": 20.0965 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-04-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.678858188870841e-09, "upper": 2.678858188870841e-09 }, "observed": 2.678858188870841e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.18915315428854e-10, "upper": 9.18915315428854e-10 }, "observed": 9.18915315428854e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694156, "upper": 0.2942999990694156 }, "observed": 0.2942999990694156, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418292027713e-07, "upper": 1.0857418292027713e-07 }, "observed": 1.0857418292027713e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642499344185e-09, "upper": 2.1965642499344185e-09 }, "observed": 2.1965642499344185e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04304927846135348, 0.20848269370600564 ], "candidate_pixels": 5053, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38375210271126065, -0.14493704235107996 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5056, "yaw_axis_rad": -0.06368963024229846, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-04-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.392863, -0.146641 ], "goal_yaw_rad": -0.073618, "object_id": "shoe_trainer_left" }, "current_image": "images/2eb9ec692669717fcafe4a0550c5eeba5cac3a03141b42df5f3bc0bfd95af9a9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/cb9d45696c9d8129cd7c6b6b9cd36487c36b6ed301a740cfafbe0a69e26b7357.png", "id": "fresh-04-all_channels_forged", "layout_id": "fresh-04", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.020495270073201583, "complete": false, "linear_speed_m_s": 0.6099509835981466, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603348435615697, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.221480058129833e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-04-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-04-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.759375, "baseline": 0.3665, "camera_observation": 12.94625, "fusion": 0.009916, "input_json_io": 1.0595, "png_io_decode": 5.030667, "processed_window": 20.172208 }, { "actuator_observation": 0.766167, "baseline": 0.3625, "camera_observation": 12.904166, "fusion": 0.007917, "input_json_io": 1.07325, "png_io_decode": 5.093042, "processed_window": 20.207042 }, { "actuator_observation": 0.751541, "baseline": 0.361167, "camera_observation": 13.013042, "fusion": 0.009084, "input_json_io": 1.022791, "png_io_decode": 4.74975, "processed_window": 19.907375 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0429638753566773, 0.20802106817924787 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.557922142857143, -0.08968690476190073 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09609958856254819, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/aecde7900f1024f37a0f2a146cd70885fdcf46c94fa29fb45a8b5b3dc7c6c7bc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_position", "layout_id": "fresh-05", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545926629864602e-10, "complete": false, "linear_speed_m_s": 8.405262771484578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998760799243, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911831377119384e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-05-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.753958, "baseline": 0.367375, "camera_observation": 13.05125, "fusion": 0.01, "input_json_io": 1.074833, "png_io_decode": 5.143167, "processed_window": 20.400583 }, { "actuator_observation": 0.768958, "baseline": 0.362084, "camera_observation": 13.161208, "fusion": 0.009292, "input_json_io": 1.101083, "png_io_decode": 4.726583, "processed_window": 20.129208 }, { "actuator_observation": 0.742542, "baseline": 0.361416, "camera_observation": 13.304542, "fusion": 0.009, "input_json_io": 1.051792, "png_io_decode": 4.88375, "processed_window": 20.353042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284264047589463, 0.20780957318220342 ], "candidate_pixels": 5225, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3991032296650695, -0.10163815789473742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5228, "yaw_axis_rad": -1.4754705150671477, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/79966e41eb412c9445456b8e44679fd11171e9b0d3ded9474e534c5aee28526c.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_orientation", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545657787858832e-10, "complete": false, "linear_speed_m_s": 8.405024814708074e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418352739997e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-05-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.769708, "baseline": 0.372042, "camera_observation": 14.886208, "fusion": 0.014917, "input_json_io": 1.063167, "png_io_decode": 5.098875, "processed_window": 22.204917 }, { "actuator_observation": 0.809333, "baseline": 0.376125, "camera_observation": 14.126875, "fusion": 0.008792, "input_json_io": 1.083833, "png_io_decode": 5.266792, "processed_window": 21.67175 }, { "actuator_observation": 0.773834, "baseline": 0.363041, "camera_observation": 14.336375, "fusion": 0.009291, "input_json_io": 1.050834, "png_io_decode": 4.85475, "processed_window": 21.388125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-05-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/7c484c0f708a89fb6e55a1df48e69869cfa46e4951701d1e79af91e3b48f3aae.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-missing_target", "layout_id": "fresh-05", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-05-missing_target.json", "timing_ms": [ { "actuator_observation": 0.760583, "baseline": 0.369708, "camera_observation": 9.836667, "fusion": 0.0025, "input_json_io": 1.045625, "png_io_decode": 4.594292, "processed_window": 16.609375 }, { "actuator_observation": 0.7495, "baseline": 0.361208, "camera_observation": 9.632833, "fusion": 0.002584, "input_json_io": 1.037292, "png_io_decode": 4.376, "processed_window": 16.159417 }, { "actuator_observation": 0.721834, "baseline": 0.365791, "camera_observation": 9.45775, "fusion": 0.0025, "input_json_io": 1.032792, "png_io_decode": 4.56475, "processed_window": 16.145417 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-05-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/071825e5d8b45e3915dee401a9db7e3271293dcf9e6c1bec3e130b143a60ab54.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-wrong_object", "layout_id": "fresh-05", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-05-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.764959, "baseline": 0.369458, "camera_observation": 10.166458, "fusion": 0.003958, "input_json_io": 1.054625, "png_io_decode": 5.697625, "processed_window": 18.057083 }, { "actuator_observation": 0.75475, "baseline": 0.361917, "camera_observation": 9.823583, "fusion": 0.002542, "input_json_io": 1.055958, "png_io_decode": 4.521125, "processed_window": 16.519875 }, { "actuator_observation": 0.749166, "baseline": 0.366583, "camera_observation": 9.768709, "fusion": 0.002709, "input_json_io": 1.05225, "png_io_decode": 4.69175, "processed_window": 16.631167 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.041271420427495945, "jaw_gap_min_m": 0.03924908079564287, "maximum_abs_drive_effort_n": 0.8111529837711302, "maximum_abs_jaw_rate_m_s": 0.002120198780887697, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188489449920398 ], "displacement_interval_m": [ 0.0, 0.08376978899839875 ], "displacement_m": 1.978899839874917e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.189243813046808 ], "displacement_interval_m": [ 0.0, 0.08378487626092693 ], "displacement_m": 3.4876260926919464e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.18805477612569 ], "displacement_interval_m": [ 0.0, 0.08376109552250458 ], "displacement_m": 1.1095522504575657e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187934650532787 ], "displacement_interval_m": [ 0.0, 0.08375869301064652 ], "displacement_m": 8.693010646522058e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188041551006814 ], "displacement_interval_m": [ 0.0, 0.08376083102012705 ], "displacement_m": 1.083102012704345e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41893092870066956 ], "net_displacement_interval_m": [ 0.0, 0.08378618574012468 ], "net_displacement_m": 3.6185740124681e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043265997409920494, 0.18107188314480713 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989712634578848, -0.08310969495461024 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4737, "yaw_axis_rad": 0.2117843373948931, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-unreleased", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-05-unreleased.json", "timing_ms": [ { "actuator_observation": 0.742042, "baseline": 0.356417, "camera_observation": 13.124375, "fusion": 0.010083, "input_json_io": 1.008041, "png_io_decode": 5.615875, "processed_window": 20.856833 }, { "actuator_observation": 0.7985, "baseline": 0.353208, "camera_observation": 12.343709, "fusion": 0.008708, "input_json_io": 1.022667, "png_io_decode": 5.1495, "processed_window": 19.676292 }, { "actuator_observation": 0.754291, "baseline": 0.360083, "camera_observation": 12.855459, "fusion": 0.009125, "input_json_io": 0.999291, "png_io_decode": 5.517542, "processed_window": 20.495791 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.5350952985920445 ], "displacement_interval_m": [ 0.0, 0.09070190597184097 ], "displacement_m": 0.006951905971840964, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.538327574803868 ], "displacement_interval_m": [ 0.0, 0.09076655149607744 ], "displacement_m": 0.007016551496077445, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.56062345497579 ], "displacement_interval_m": [ 0.0, 0.09121246909951589 ], "displacement_m": 0.007462469099515881, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.593319607526213 ], "displacement_interval_m": [ 0.0, 0.09186639215052433 ], "displacement_m": 0.00811639215052433, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.632907639021205 ], "displacement_interval_m": [ 0.0, 0.09265815278042419 ], "displacement_m": 0.00890815278042418, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.699445789728054 ], "displacement_interval_m": [ 0.0, 0.09398891579456117 ], "displacement_m": 0.010238915794561165, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.711631004551024 ], "displacement_interval_m": [ 0.0, 0.09423262009102057 ], "displacement_m": 0.010482620091020559, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.741189342398432 ], "displacement_interval_m": [ 0.0, 0.09482378684796872 ], "displacement_m": 0.011073786847968706, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.79803333322235 ], "displacement_interval_m": [ 0.0, 0.0959606666644471 ], "displacement_m": 0.012210666664447086, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.798833106439548 ], "displacement_interval_m": [ 0.0, 0.09597666212879104 ], "displacement_m": 0.012226662128791036, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.05439180300922402, 0.8918918030092232 ], "net_displacement_interval_m": [ 0.010878360601844814, 0.1783783606018448 ], "net_displacement_m": 0.09462836060184482, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04382310192285925, 0.15240771096412803 ], "candidate_pixels": 3879, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42631396622840934, -0.08664523717452714 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4110, "yaw_axis_rad": 0.07296405966134767, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043604445889082945, 0.16440101858126493 ], "candidate_pixels": 4204, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43329477878211203, -0.08735252140817967 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4268, "yaw_axis_rad": 0.07758005949610602, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04339353819295945, 0.17660761548156018 ], "candidate_pixels": 4489, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4407327634216975, -0.08795653263532723 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4492, "yaw_axis_rad": 0.08163059895908997, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322777681310272, 0.18757409411675857 ], "candidate_pixels": 4744, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.44883115514333877, -0.08849678541314966 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4747, "yaw_axis_rad": 0.0859392770973022, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043080298326187386, 0.19580346493640471 ], "candidate_pixels": 4943, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45772670948816513, -0.08897038741654478 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4946, "yaw_axis_rad": 0.09034809604074745, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04303585689737427, 0.19774190014642495 ], "candidate_pixels": 5071, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.46796009169789027, -0.08930696608163678 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5074, "yaw_axis_rad": 0.09485193684166493, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04298437726186946, 0.20215388450546395 ], "candidate_pixels": 5173, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47843985598298855, -0.08955163831432038 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5176, "yaw_axis_rad": 0.09671908862503464, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042968117874174046, 0.20705114456627677 ], "candidate_pixels": 5239, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48951290799770947, -0.08967920881847279 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5242, "yaw_axis_rad": 0.09654525567554195, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294293175182361, 0.20808169551428524 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5017235714285713, -0.08968809523809121 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5253, "yaw_axis_rad": 0.09623183800336221, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295211354528978, 0.20782549039705916 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5139502334667428, -0.08968660663235732 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 0.0959140985472855, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-sustained_motion", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-05-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.754875, "baseline": 0.353042, "camera_observation": 12.7895, "fusion": 0.008041, "input_json_io": 1.036, "png_io_decode": 4.88975, "processed_window": 19.831208 }, { "actuator_observation": 0.743083, "baseline": 0.367709, "camera_observation": 12.971583, "fusion": 0.009834, "input_json_io": 1.103708, "png_io_decode": 4.68275, "processed_window": 19.878667 }, { "actuator_observation": 0.747875, "baseline": 0.351458, "camera_observation": 12.767542, "fusion": 0.007958, "input_json_io": 1.063416, "png_io_decode": 4.777584, "processed_window": 19.715833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-instant_alias", "layout_id": "fresh-05", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-05-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.751791, "baseline": 0.354667, "camera_observation": 13.278875, "fusion": 0.010042, "input_json_io": 0.99625, "png_io_decode": 4.649792, "processed_window": 20.041417 }, { "actuator_observation": 0.835125, "baseline": 0.378125, "camera_observation": 13.295375, "fusion": 0.017792, "input_json_io": 1.06025, "png_io_decode": 4.727666, "processed_window": 20.314333 }, { "actuator_observation": 0.740708, "baseline": 0.350708, "camera_observation": 13.298042, "fusion": 0.008708, "input_json_io": 1.010708, "png_io_decode": 4.360542, "processed_window": 19.769416 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043617695427426925, 0.1675745845296671 ], "candidate_pixels": 4105, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.43145843483556623, -0.08798919001217742 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4141, "yaw_axis_rad": 0.07669790791983333, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/a4abd85ce1abf4bd2a5ae4b717ae120672b41b9dcd6f032722c1cd54c614e59c.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-yaw_flip180", "layout_id": "fresh-05", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545941378365255e-10, "complete": false, "linear_speed_m_s": 8.405322527252024e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418357304478e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986103 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-05-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.733041, "baseline": 0.350458, "camera_observation": 12.580042, "fusion": 0.009459, "input_json_io": 1.133792, "png_io_decode": 4.6105, "processed_window": 19.417292 }, { "actuator_observation": 0.803791, "baseline": 0.351792, "camera_observation": 12.269792, "fusion": 0.007, "input_json_io": 1.023708, "png_io_decode": 4.549708, "processed_window": 19.005791 }, { "actuator_observation": 0.799916, "baseline": 0.363083, "camera_observation": 12.425417, "fusion": 0.008542, "input_json_io": 1.069291, "png_io_decode": 4.718209, "processed_window": 19.384458 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-lookalike_wrongobject", "layout_id": "fresh-05", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-05-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.736375, "baseline": 0.360167, "camera_observation": 13.118667, "fusion": 0.00875, "input_json_io": 1.094084, "png_io_decode": 4.782416, "processed_window": 20.100459 }, { "actuator_observation": 0.775375, "baseline": 0.358375, "camera_observation": 13.374208, "fusion": 0.0095, "input_json_io": 1.036709, "png_io_decode": 4.477958, "processed_window": 20.032125 }, { "actuator_observation": 0.763208, "baseline": 0.357625, "camera_observation": 13.47025, "fusion": 0.00925, "input_json_io": 1.063667, "png_io_decode": 4.886917, "processed_window": 20.550917 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043963617902320826, 0.14008163874092927 ], "candidate_pixels": 3518, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4192723138146673, -0.08600056850483044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3944, "yaw_axis_rad": 0.06532503772230447, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/94afe532d87614b8f2be291251287bc8a56e11869b625038206c8f0b168acc13.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forgery-elevated_support", "layout_id": "fresh-05", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546714190956518e-10, "complete": false, "linear_speed_m_s": 8.406005225034952e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418391138659e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182513211487e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-05-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-05-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.761792, "baseline": 0.354084, "camera_observation": 13.091291, "fusion": 0.009458, "input_json_io": 1.000542, "png_io_decode": 4.340583, "processed_window": 19.55775 }, { "actuator_observation": 0.729083, "baseline": 0.370208, "camera_observation": 13.57425, "fusion": 0.007709, "input_json_io": 1.077458, "png_io_decode": 4.892917, "processed_window": 20.651625 }, { "actuator_observation": 0.754958, "baseline": 0.348375, "camera_observation": 13.246042, "fusion": 0.009167, "input_json_io": 1.026667, "png_io_decode": 4.418291, "processed_window": 19.8035 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-05-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_missing", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.723209, "baseline": 0.353459, "camera_observation": 0.001166, "fusion": 0.002, "input_json_io": 1.023084, "png_io_decode": 0.000541, "processed_window": 2.103459 }, { "actuator_observation": 0.742708, "baseline": 0.347875, "camera_observation": 0.000875, "fusion": 0.00175, "input_json_io": 0.994083, "png_io_decode": 0.000417, "processed_window": 2.087708 }, { "actuator_observation": 0.682792, "baseline": 0.330875, "camera_observation": 0.000875, "fusion": 0.001625, "input_json_io": 0.941583, "png_io_decode": 0.000417, "processed_window": 1.958167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-05-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_stale", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.708667, "baseline": 0.3505, "camera_observation": 0.005541, "fusion": 0.002333, "input_json_io": 0.951917, "png_io_decode": 4.514667, "processed_window": 6.533625 }, { "actuator_observation": 0.695917, "baseline": 0.347584, "camera_observation": 0.005583, "fusion": 0.002375, "input_json_io": 1.119417, "png_io_decode": 4.335708, "processed_window": 6.506584 }, { "actuator_observation": 0.691916, "baseline": 0.346708, "camera_observation": 0.005542, "fusion": 0.002459, "input_json_io": 0.953292, "png_io_decode": 4.417625, "processed_window": 6.417542 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-05-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-camera_gap", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.709375, "baseline": 0.347166, "camera_observation": 0.002834, "fusion": 0.002083, "input_json_io": 0.968125, "png_io_decode": 3.72125, "processed_window": 5.750833 }, { "actuator_observation": 0.694333, "baseline": 0.346333, "camera_observation": 0.003167, "fusion": 0.002167, "input_json_io": 0.949875, "png_io_decode": 3.753208, "processed_window": 5.749083 }, { "actuator_observation": 0.742708, "baseline": 0.349833, "camera_observation": 0.003375, "fusion": 0.002959, "input_json_io": 0.971, "png_io_decode": 3.709084, "processed_window": 5.778959 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_missing", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.002125, "baseline": 0.351417, "camera_observation": 13.534458, "fusion": 0.008583, "input_json_io": 0.447708, "png_io_decode": 4.419125, "processed_window": 18.763416 }, { "actuator_observation": 0.002375, "baseline": 0.348625, "camera_observation": 13.039, "fusion": 0.008125, "input_json_io": 0.403917, "png_io_decode": 4.624625, "processed_window": 18.426667 }, { "actuator_observation": 0.002583, "baseline": 0.35125, "camera_observation": 13.430917, "fusion": 0.012125, "input_json_io": 0.40575, "png_io_decode": 4.436917, "processed_window": 18.639542 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-05-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_stale", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.022167, "baseline": 0.348625, "camera_observation": 13.162417, "fusion": 0.010083, "input_json_io": 1.004083, "png_io_decode": 4.238958, "processed_window": 18.786333 }, { "actuator_observation": 0.026167, "baseline": 0.356541, "camera_observation": 13.503417, "fusion": 0.010625, "input_json_io": 0.999209, "png_io_decode": 4.189625, "processed_window": 19.085584 }, { "actuator_observation": 0.023625, "baseline": 0.355667, "camera_observation": 12.978583, "fusion": 0.009, "input_json_io": 1.072042, "png_io_decode": 4.579833, "processed_window": 19.01875 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-05-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_gap", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.007292, "baseline": 0.389333, "camera_observation": 13.70125, "fusion": 0.012, "input_json_io": 1.105875, "png_io_decode": 5.443208, "processed_window": 20.658958 }, { "actuator_observation": 0.004625, "baseline": 0.372167, "camera_observation": 14.011583, "fusion": 0.013584, "input_json_io": 1.097917, "png_io_decode": 4.680166, "processed_window": 20.180042 }, { "actuator_observation": 0.003417, "baseline": 0.377875, "camera_observation": 13.781625, "fusion": 0.013833, "input_json_io": 1.094167, "png_io_decode": 4.598708, "processed_window": 19.869625 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-05-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-fault-actuator_wrong_units", "layout_id": "fresh-05", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545677341053159e-10, "complete": true, "linear_speed_m_s": 8.405002778748809e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418326227719e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835124122092e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-05-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-05-complete.json", "timing_ms": [ { "actuator_observation": 0.678334, "baseline": 0.365125, "camera_observation": 13.552916, "fusion": 0.01125, "input_json_io": 1.111291, "png_io_decode": 4.824959, "processed_window": 20.543875 }, { "actuator_observation": 0.681375, "baseline": 0.366292, "camera_observation": 13.462792, "fusion": 0.011125, "input_json_io": 1.111584, "png_io_decode": 4.630291, "processed_window": 20.263459 }, { "actuator_observation": 0.697, "baseline": 0.368625, "camera_observation": 14.293875, "fusion": 0.013125, "input_json_io": 1.112333, "png_io_decode": 4.570583, "processed_window": 21.055541 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-05-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-05-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-refreshed_camera_replay", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-05-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.788375, "baseline": 0.389625, "camera_observation": 14.118917, "fusion": 0.011958, "input_json_io": 1.26425, "png_io_decode": 6.6465, "processed_window": 23.219625 }, { "actuator_observation": 0.8635, "baseline": 0.439458, "camera_observation": 14.5115, "fusion": 0.014334, "input_json_io": 1.184333, "png_io_decode": 5.520292, "processed_window": 22.533417 }, { "actuator_observation": 0.786958, "baseline": 0.389208, "camera_observation": 14.163917, "fusion": 0.012375, "input_json_io": 4.231292, "png_io_decode": 4.738583, "processed_window": 24.322333 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.8111529837711302, "maximum_abs_jaw_rate_m_s": 0.002120198780887697, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-05-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188489449920398 ], "displacement_interval_m": [ 0.0, 0.08376978899839875 ], "displacement_m": 1.978899839874917e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.189243813046808 ], "displacement_interval_m": [ 0.0, 0.08378487626092693 ], "displacement_m": 3.4876260926919464e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.18805477612569 ], "displacement_interval_m": [ 0.0, 0.08376109552250458 ], "displacement_m": 1.1095522504575657e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187934650532787 ], "displacement_interval_m": [ 0.0, 0.08375869301064652 ], "displacement_m": 8.693010646522058e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188041551006814 ], "displacement_interval_m": [ 0.0, 0.08376083102012705 ], "displacement_m": 1.083102012704345e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41893092870066956 ], "net_displacement_interval_m": [ 0.0, 0.08378618574012468 ], "net_displacement_m": 3.6185740124681e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043265997409920494, 0.18107188314480713 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989712634578848, -0.08310969495461024 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4737, "yaw_axis_rad": 0.2117843373948931, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forged_encoder_only", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-05-unreleased.json", "timing_ms": [ { "actuator_observation": 0.839875, "baseline": 0.398041, "camera_observation": 13.78175, "fusion": 0.011209, "input_json_io": 1.111209, "png_io_decode": 6.22675, "processed_window": 22.368834 }, { "actuator_observation": 0.802, "baseline": 0.379125, "camera_observation": 13.756791, "fusion": 0.012917, "input_json_io": 1.101417, "png_io_decode": 5.605375, "processed_window": 21.657625 }, { "actuator_observation": 0.811458, "baseline": 0.386542, "camera_observation": 13.574, "fusion": 0.013584, "input_json_io": 1.202042, "png_io_decode": 5.814208, "processed_window": 21.801834 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.041271420427495945, "jaw_gap_min_m": 0.03924908079564287, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002120198780887697, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-05-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188489449920398 ], "displacement_interval_m": [ 0.0, 0.08376978899839875 ], "displacement_m": 1.978899839874917e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.189243813046808 ], "displacement_interval_m": [ 0.0, 0.08378487626092693 ], "displacement_m": 3.4876260926919464e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.18805477612569 ], "displacement_interval_m": [ 0.0, 0.08376109552250458 ], "displacement_m": 1.1095522504575657e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.187934650532787 ], "displacement_interval_m": [ 0.0, 0.08375869301064652 ], "displacement_m": 8.693010646522058e-06, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188041551006814 ], "displacement_interval_m": [ 0.0, 0.08376083102012705 ], "displacement_m": 1.083102012704345e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41893092870066956 ], "net_displacement_interval_m": [ 0.0, 0.08378618574012468 ], "net_displacement_m": 3.6185740124681e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043228832040965795, 0.18098735812124178 ], "candidate_pixels": 4735, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39898614044350594, -0.08308408130939571 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4735, "yaw_axis_rad": 0.21199343007681293, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04322918713465605, 0.1810767931269477 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3990057538006758, -0.08308145059121383 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4736, "yaw_axis_rad": 0.2119307870874847, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043249638713023425, 0.1810743191893549 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989760132995568, -0.08309966751108057 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4737, "yaw_axis_rad": 0.21194077580167292, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043265997409920494, 0.18107188314480713 ], "candidate_pixels": 4737, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989712634578848, -0.08310969495461024 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4737, "yaw_axis_rad": 0.2117843373948931, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323675165919706, 0.18107561861339236 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3989793602195947, -0.08311285895270032 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21185539433350398, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043259282562970125, 0.18107863268225816 ], "candidate_pixels": 4736, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.398987278293919, -0.08312024915540302 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4736, "yaw_axis_rad": 0.21204900229969592, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-05-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/2253ffd6671ce452390476bc5b80cc1d2c49513a95b9b3654e05c9504642971d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-forged_effort_only", "layout_id": "fresh-05", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0011176294141445509, "complete": false, "linear_speed_m_s": 0.00014258973066293148, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.006180797363396892, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.10753724177422341 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-05-unreleased.json", "timing_ms": [ { "actuator_observation": 0.813834, "baseline": 0.392708, "camera_observation": 14.334958, "fusion": 0.011875, "input_json_io": 1.191083, "png_io_decode": 5.804334, "processed_window": 22.548792 }, { "actuator_observation": 0.81575, "baseline": 0.403625, "camera_observation": 14.598625, "fusion": 0.01425, "input_json_io": 1.180375, "png_io_decode": 5.780917, "processed_window": 22.793542 }, { "actuator_observation": 0.802791, "baseline": 0.396791, "camera_observation": 14.225959, "fusion": 0.013334, "input_json_io": 1.439708, "png_io_decode": 6.147917, "processed_window": 23.0265 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-05-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679065398673736e-09, "upper": 2.679065398673736e-09 }, "observed": 2.679065398673736e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189152975367923e-10, "upper": 9.189152975367923e-10 }, "observed": 9.189152975367923e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.29429999906941556, "upper": 0.29429999906941556 }, "observed": 0.29429999906941556, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418326227719e-07, "upper": 1.0857418326227719e-07 }, "observed": 1.0857418326227719e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.19656443034566e-09, "upper": 2.19656443034566e-09 }, "observed": 2.19656443034566e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043912871364877135, 0.1400665667358364 ], "candidate_pixels": 3525, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41939485815602817, -0.08597074468084921 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3952, "yaw_axis_rad": 0.0663462216681947, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-05-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.399421, -0.090068 ], "goal_yaw_rad": 0.096692, "object_id": "shoe_trainer_left" }, "current_image": "images/acacc24dd350f244916de93b125ad5c23e062f6985f1a7730832d78253a2030d.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/4837cde86366faa041d053c09bd66c9d301cd45174b16beaea0ca2a752293d0b.png", "id": "fresh-05-all_channels_forged", "layout_id": "fresh-05", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024480024743180492, "complete": false, "linear_speed_m_s": 0.6098035578159189, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603131361817682, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.6112883707286585e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-05-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-05-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.833875, "baseline": 0.414125, "camera_observation": 15.254, "fusion": 0.012917, "input_json_io": 1.181583, "png_io_decode": 5.424583, "processed_window": 23.121083 }, { "actuator_observation": 0.844875, "baseline": 0.400583, "camera_observation": 14.953042, "fusion": 0.012708, "input_json_io": 1.136458, "png_io_decode": 4.810792, "processed_window": 22.158458 }, { "actuator_observation": 0.855209, "baseline": 0.428416, "camera_observation": 16.102625, "fusion": 0.0125, "input_json_io": 1.259, "png_io_decode": 5.999125, "processed_window": 24.656875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, 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"pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286848416520628, 0.20766192237776637 ], "candidate_pixels": 5233, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5483949216510607, -0.0853314303458788 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5236, "yaw_axis_rad": 0.06440197987343899, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/543e7b00b33c7de9db97cbda361380533a876bb602e4cd48f6356c06c9f4db92.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_position", "layout_id": "fresh-06", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.548138189400613e-10, "complete": false, "linear_speed_m_s": 8.407371002321903e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998429721178, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911810560437672e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-06-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.862209, "baseline": 0.421292, "camera_observation": 14.936291, "fusion": 0.012666, "input_json_io": 1.276292, "png_io_decode": 5.918083, "processed_window": 23.426833 }, { "actuator_observation": 0.879833, "baseline": 0.43125, "camera_observation": 14.956084, "fusion": 0.013875, "input_json_io": 1.211708, "png_io_decode": 5.781208, "processed_window": 23.273958 }, { "actuator_observation": 0.854, "baseline": 0.490833, "camera_observation": 14.7055, "fusion": 0.014459, "input_json_io": 1.204042, "png_io_decode": 5.863125, "processed_window": 23.131959 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042669168520606315, 0.20822997279257283 ], "candidate_pixels": 5118, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3895537807737397, -0.09834212583040304 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5120, "yaw_axis_rad": -1.5100126207805005, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/65e970ebfda9a06aa3fea0fb7e7630886e80c23fa5ea402d3c0af3fdcd73e936.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_orientation", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546864723494792e-10, "complete": false, "linear_speed_m_s": 8.406202720929996e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418435704144e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037149 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-06-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.905333, "baseline": 0.429583, "camera_observation": 16.541917, "fusion": 0.015042, "input_json_io": 1.245417, "png_io_decode": 6.408792, "processed_window": 25.546084 }, { "actuator_observation": 0.881916, "baseline": 0.421542, "camera_observation": 16.37175, "fusion": 0.0155, "input_json_io": 1.25, "png_io_decode": 6.239167, "processed_window": 25.179875 }, { "actuator_observation": 0.885541, "baseline": 0.503666, "camera_observation": 16.817334, "fusion": 0.013792, "input_json_io": 1.266417, "png_io_decode": 5.2815, "processed_window": 24.76825 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/2dc08bbabd42da97f2bf56895ae72b858ba058485de1c4296110fc410dbe2850.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-missing_target", "layout_id": "fresh-06", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-06-missing_target.json", "timing_ms": [ { "actuator_observation": 1.022125, "baseline": 0.456709, "camera_observation": 13.085958, "fusion": 0.005083, "input_json_io": 1.451792, "png_io_decode": 4.998333, "processed_window": 21.02 }, { "actuator_observation": 0.98775, "baseline": 0.468125, "camera_observation": 13.645, "fusion": 0.005291, "input_json_io": 1.41425, "png_io_decode": 6.631, "processed_window": 23.151416 }, { "actuator_observation": 0.96475, "baseline": 0.468083, "camera_observation": 11.914542, "fusion": 0.004667, "input_json_io": 1.727166, "png_io_decode": 5.415792, "processed_window": 20.495 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a1a6aaaa1920a7cb6f0921ba79111e0e7155cd68a9b528ca29bc1959e89c029a.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-wrong_object", "layout_id": "fresh-06", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-06-wrong_object.json", "timing_ms": [ { "actuator_observation": 1.047084, "baseline": 0.4845, "camera_observation": 12.895958, "fusion": 0.00525, "input_json_io": 1.32025, "png_io_decode": 6.342417, "processed_window": 22.095459 }, { "actuator_observation": 0.963166, "baseline": 0.445875, "camera_observation": 11.984667, "fusion": 0.004167, "input_json_io": 1.344292, "png_io_decode": 6.293375, "processed_window": 21.035542 }, { "actuator_observation": 0.919291, "baseline": 0.459333, "camera_observation": 12.178667, "fusion": 0.004459, "input_json_io": 1.368791, "png_io_decode": 6.097334, "processed_window": 21.027875 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.040447617474724556, "jaw_gap_min_m": 0.03843319818990974, "maximum_abs_drive_effort_n": 0.7948812530826463, "maximum_abs_jaw_rate_m_s": 0.002082375055814668, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.1887930516138745 ], "displacement_interval_m": [ 0.0, 0.08377586103226826 ], "displacement_m": 2.5861032268256076e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187947279798451 ], "displacement_interval_m": [ 0.0, 0.08375894559595981 ], "displacement_m": 8.945595959799424e-06, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.1882494881072985 ], "displacement_interval_m": [ 0.0, 0.08376498976213674 ], "displacement_m": 1.4989762136731985e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187994832358749 ], "displacement_interval_m": [ 0.0, 0.08375989664716575 ], "displacement_m": 9.896647165740156e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188446109892032 ], "displacement_interval_m": [ 0.0, 0.08376892219783143 ], "displacement_m": 1.892219783141947e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41888377791624054 ], "net_displacement_interval_m": [ 0.0, 0.08377675558323888 ], "net_displacement_m": 2.6755583238878414e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323580067955872, 0.17990297464168736 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897228835978839, -0.07920886243386013 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17148926203213177, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323114311674458, 0.17990104370419963 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970932077867143, -0.07921524545069596 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4726, "yaw_axis_rad": 0.1716071532724519, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432336950694989, 0.17990122603919806 ], "candidate_pixels": 4727, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38971876983287523, -0.07921818806854011 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4727, "yaw_axis_rad": 0.17152555987473095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-unreleased", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-06-unreleased.json", "timing_ms": [ { "actuator_observation": 0.915458, "baseline": 0.456958, "camera_observation": 15.849667, "fusion": 0.013125, "input_json_io": 1.32725, "png_io_decode": 6.630959, "processed_window": 25.193417 }, { "actuator_observation": 1.004667, "baseline": 0.457375, "camera_observation": 16.46, "fusion": 0.017416, "input_json_io": 1.203333, "png_io_decode": 7.721375, "processed_window": 26.864166 }, { "actuator_observation": 0.932417, "baseline": 0.471416, "camera_observation": 16.20575, "fusion": 0.014667, "input_json_io": 5.297375, "png_io_decode": 6.880667, "processed_window": 29.802292 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04355048039267187, 0.14371570190469535 ], "candidate_pixels": 3619, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4211607142857141, -0.08287389472229655 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3864, "yaw_axis_rad": 0.0447425526860723, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04342086254698112, 0.155500522949226 ], "candidate_pixels": 3968, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42781628024193535, -0.08328440020160954 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4091, "yaw_axis_rad": 0.04523520012368287, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04332025257047739, 0.16767342937110824 ], "candidate_pixels": 4296, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4345347416201116, -0.08370257216014533 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4314, "yaw_axis_rad": 0.04613630292123183, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043173051374682275, 0.18018145786522533 ], "candidate_pixels": 4595, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4419318552774754, -0.08411955930358737 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4598, "yaw_axis_rad": 0.049299746472533545, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042960610653469566, 0.19204649332010695 ], "candidate_pixels": 4847, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4498105787084793, -0.08451735609655163 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4850, "yaw_axis_rad": 0.05302412384063615, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04287141609245539, 0.20323893910477503 ], "candidate_pixels": 5050, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45847846534653464, -0.08487227722771974 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5053, "yaw_axis_rad": 0.05675332281622758, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428610775365524, 0.20569297669651512 ], "candidate_pixels": 5145, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4691976433430513, -0.0851065354713283 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5148, "yaw_axis_rad": 0.060666009901429785, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284187910543352, 0.20621187242605066 ], "candidate_pixels": 5204, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4805101844734818, -0.08525413143735278 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5207, "yaw_axis_rad": 0.06323823043679377, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286783270361025, 0.20782110632965653 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49220242644249157, -0.08533076996560636 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 0.06446093634925809, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042799986967337895, 0.20773977767783103 ], "candidate_pixels": 5234, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5043812094000766, -0.08533268055024527 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5237, "yaw_axis_rad": 0.06473116162949921, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-sustained_motion", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-06-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.992041, "baseline": 0.457334, "camera_observation": 17.065875, "fusion": 0.004334, "input_json_io": 1.644459, "png_io_decode": 6.553291, "processed_window": 26.717334 }, { "actuator_observation": 0.99625, "baseline": 0.47925, "camera_observation": 16.943041, "fusion": 0.004667, "input_json_io": 1.484709, "png_io_decode": 6.991375, "processed_window": 26.899292 }, { "actuator_observation": 0.983292, "baseline": 0.480084, "camera_observation": 17.107333, "fusion": 0.003833, "input_json_io": 1.429583, "png_io_decode": 6.220208, "processed_window": 26.224333 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-instant_alias", "layout_id": "fresh-06", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-06-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.997958, "baseline": 0.596209, "camera_observation": 17.332125, "fusion": 0.004833, "input_json_io": 1.573792, "png_io_decode": 8.125416, "processed_window": 28.630333 }, { "actuator_observation": 0.986917, "baseline": 0.485708, "camera_observation": 18.1025, "fusion": 0.004125, "input_json_io": 1.401917, "png_io_decode": 7.866542, "processed_window": 28.847709 }, { "actuator_observation": 0.976458, "baseline": 0.491042, "camera_observation": 17.26125, "fusion": 0.003708, "input_json_io": 1.752416, "png_io_decode": 6.524542, "processed_window": 27.009416 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380980071401973, 0.15890643482798728 ], "candidate_pixels": 3869, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4262834388730934, -0.08459954122511958 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 3988, "yaw_axis_rad": 0.04500865310090019, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/95c7f03fb7f8e63f2bb8033f26c937b07c72731d771fda149380a7ccc6b17092.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-yaw_flip180", "layout_id": "fresh-06", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546934599004083e-10, "complete": false, "linear_speed_m_s": 8.406301412864975e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418419965155e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.1415926513986117 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-06-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.980708, "baseline": 0.497708, "camera_observation": 18.827375, "fusion": 0.015417, "input_json_io": 1.425291, "png_io_decode": 6.475084, "processed_window": 28.221583 }, { "actuator_observation": 0.990167, "baseline": 0.485375, "camera_observation": 17.413708, "fusion": 0.015708, "input_json_io": 1.422292, "png_io_decode": 6.381125, "processed_window": 26.708375 }, { "actuator_observation": 0.989333, "baseline": 0.493875, "camera_observation": 17.770667, "fusion": 0.01425, "input_json_io": 1.423625, "png_io_decode": 6.712, "processed_window": 27.40375 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-lookalike_wrongobject", "layout_id": "fresh-06", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-06-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.983834, "baseline": 0.491459, "camera_observation": 17.879291, "fusion": 0.003958, "input_json_io": 1.397375, "png_io_decode": 6.637791, "processed_window": 27.393708 }, { "actuator_observation": 0.982458, "baseline": 0.492958, "camera_observation": 18.644542, "fusion": 0.004042, "input_json_io": 1.384625, "png_io_decode": 9.703083, "processed_window": 31.211708 }, { "actuator_observation": 0.997084, "baseline": 0.525042, "camera_observation": 17.169416, "fusion": 0.00425, "input_json_io": 3.903375, "png_io_decode": 5.905, "processed_window": 28.504167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3577, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a922ff2407b84bf50f6bcbcd6f9314b3229e3a13a123d27ae3af03c957615d9b.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forgery-elevated_support", "layout_id": "fresh-06", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54680563708664e-10, "complete": false, "linear_speed_m_s": 8.406143094976067e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418406233275e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.1911821385112162e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-06-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-06-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.982542, "baseline": 0.475542, "camera_observation": 17.601333, "fusion": 0.003875, "input_json_io": 1.403792, "png_io_decode": 7.400291, "processed_window": 27.867375 }, { "actuator_observation": 1.220959, "baseline": 0.492042, "camera_observation": 17.232666, "fusion": 0.005166, "input_json_io": 1.420458, "png_io_decode": 6.466125, "processed_window": 26.837416 }, { "actuator_observation": 1.041583, "baseline": 0.484291, "camera_observation": 17.811459, "fusion": 0.004625, "input_json_io": 1.438667, "png_io_decode": 6.11, "processed_window": 26.890625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-06-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_missing", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 1.053542, "baseline": 0.476375, "camera_observation": 0.001292, "fusion": 0.004291, "input_json_io": 1.2895, "png_io_decode": 0.000791, "processed_window": 2.825791 }, { "actuator_observation": 0.911833, "baseline": 0.452792, "camera_observation": 0.002375, "fusion": 0.002709, "input_json_io": 1.391875, "png_io_decode": 0.000833, "processed_window": 2.762417 }, { "actuator_observation": 0.900167, "baseline": 0.442584, "camera_observation": 0.001541, "fusion": 0.002375, "input_json_io": 1.26075, "png_io_decode": 0.000791, "processed_window": 2.608208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-06-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_stale", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.982666, "baseline": 0.480458, "camera_observation": 0.008334, "fusion": 0.002875, "input_json_io": 1.356875, "png_io_decode": 6.100375, "processed_window": 8.931583 }, { "actuator_observation": 1.003959, "baseline": 0.491, "camera_observation": 0.0095, "fusion": 0.003541, "input_json_io": 1.282625, "png_io_decode": 6.71475, "processed_window": 9.505375 }, { "actuator_observation": 0.983084, "baseline": 0.472958, "camera_observation": 0.008458, "fusion": 0.00325, "input_json_io": 1.3225, "png_io_decode": 5.59925, "processed_window": 8.3895 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-06-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_gap", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.963958, "baseline": 0.475292, "camera_observation": 0.005667, "fusion": 0.003458, "input_json_io": 1.285584, "png_io_decode": 5.489541, "processed_window": 8.2235 }, { "actuator_observation": 1.180333, "baseline": 0.466959, "camera_observation": 0.005333, "fusion": 0.003417, "input_json_io": 1.318375, "png_io_decode": 5.113375, "processed_window": 8.087792 }, { "actuator_observation": 0.951417, "baseline": 0.473084, "camera_observation": 0.005541, "fusion": 0.0035, "input_json_io": 1.284083, "png_io_decode": 5.191125, "processed_window": 7.90875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-06-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-camera_bad_calibration_id", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 6.608417, "baseline": 0.484333, "camera_observation": 0.002375, "fusion": 0.004625, "input_json_io": 1.594833, "png_io_decode": 8.030959, "processed_window": 16.725542 }, { "actuator_observation": 0.973958, "baseline": 0.477375, "camera_observation": 0.002875, "fusion": 0.003542, "input_json_io": 1.669083, "png_io_decode": 6.160584, "processed_window": 9.287417 }, { "actuator_observation": 0.987167, "baseline": 0.483042, "camera_observation": 0.002708, "fusion": 0.003208, "input_json_io": 1.290625, "png_io_decode": 5.726541, "processed_window": 8.493291 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-06-fault-actuator_missing-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window", "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_missing", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.007625, "baseline": 0.491833, "camera_observation": 17.786, "fusion": 0.008958, "input_json_io": 0.629416, "png_io_decode": 6.818334, "processed_window": 25.742166 }, { "actuator_observation": 0.006625, "baseline": 0.491708, "camera_observation": 17.502209, "fusion": 0.006166, "input_json_io": 1.187583, "png_io_decode": 6.141667, "processed_window": 25.335958 }, { "actuator_observation": 0.005916, "baseline": 0.50975, "camera_observation": 18.212667, "fusion": 0.005959, "input_json_io": 0.6335, "png_io_decode": 6.346917, "processed_window": 25.714709 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-06-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window", "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_stale", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.039, "baseline": 0.557292, "camera_observation": 18.294208, "fusion": 0.005792, "input_json_io": 1.412125, "png_io_decode": 6.446333, "processed_window": 26.75475 }, { "actuator_observation": 0.042917, "baseline": 0.488917, "camera_observation": 17.748708, "fusion": 0.005291, "input_json_io": 1.439458, "png_io_decode": 6.22325, "processed_window": 25.948541 }, { "actuator_observation": 0.039292, "baseline": 0.496041, "camera_observation": 17.445625, "fusion": 0.006042, "input_json_io": 1.426875, "png_io_decode": 7.486959, "processed_window": 26.900834 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-06-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window", "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_gap", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.005417, "baseline": 0.489667, "camera_observation": 17.860166, "fusion": 0.005833, "input_json_io": 1.391875, "png_io_decode": 6.680917, "processed_window": 26.433875 }, { "actuator_observation": 0.005917, "baseline": 0.48125, "camera_observation": 17.443583, "fusion": 0.005791, "input_json_io": 1.791167, "png_io_decode": 5.997917, "processed_window": 25.725625 }, { "actuator_observation": 0.005375, "baseline": 0.5225, "camera_observation": 17.783834, "fusion": 0.005458, "input_json_io": 1.4015, "png_io_decode": 6.222958, "processed_window": 25.941625 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-06-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-06-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample", "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-fault-actuator_wrong_units", "layout_id": "fresh-06", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546793937960621e-10, "complete": true, "linear_speed_m_s": 8.406120719218624e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.08574184034869e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911821940223675e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-06-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-06-complete.json", "timing_ms": [ { "actuator_observation": 0.978875, "baseline": 0.491, "camera_observation": 17.631208, "fusion": 0.007709, "input_json_io": 1.685542, "png_io_decode": 6.945083, "processed_window": 27.739417 }, { "actuator_observation": 0.877208, "baseline": 0.478291, "camera_observation": 17.934459, "fusion": 0.005875, "input_json_io": 1.400792, "png_io_decode": 6.96175, "processed_window": 27.658375 }, { "actuator_observation": 0.879333, "baseline": 0.47575, "camera_observation": 17.824458, "fusion": 0.005, "input_json_io": 1.414042, "png_io_decode": 6.989292, "processed_window": 27.587875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-06-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/fresh-06-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-refreshed_camera_replay", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-06-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.078833, "baseline": 0.485458, "camera_observation": 17.363792, "fusion": 0.003792, "input_json_io": 1.459041, "png_io_decode": 7.928667, "processed_window": 28.319583 }, { "actuator_observation": 0.990708, "baseline": 0.485958, "camera_observation": 17.445375, "fusion": 0.004167, "input_json_io": 1.438542, "png_io_decode": 6.130125, "processed_window": 26.494875 }, { "actuator_observation": 1.141708, "baseline": 0.5065, "camera_observation": 17.585583, "fusion": 0.006, "input_json_io": 1.581791, "png_io_decode": 6.322584, "processed_window": 27.144166 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7948812530826463, "maximum_abs_jaw_rate_m_s": 0.002082375055814668, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-06-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.1887930516138745 ], "displacement_interval_m": [ 0.0, 0.08377586103226826 ], "displacement_m": 2.5861032268256076e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187947279798451 ], "displacement_interval_m": [ 0.0, 0.08375894559595981 ], "displacement_m": 8.945595959799424e-06, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.1882494881072985 ], "displacement_interval_m": [ 0.0, 0.08376498976213674 ], "displacement_m": 1.4989762136731985e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187994832358749 ], "displacement_interval_m": [ 0.0, 0.08375989664716575 ], "displacement_m": 9.896647165740156e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188446109892032 ], "displacement_interval_m": [ 0.0, 0.08376892219783143 ], "displacement_m": 1.892219783141947e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41888377791624054 ], "net_displacement_interval_m": [ 0.0, 0.08377675558323888 ], "net_displacement_m": 2.6755583238878414e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323580067955872, 0.17990297464168736 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897228835978839, -0.07920886243386013 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17148926203213177, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323114311674458, 0.17990104370419963 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970932077867143, -0.07921524545069596 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4726, "yaw_axis_rad": 0.1716071532724519, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432336950694989, 0.17990122603919806 ], "candidate_pixels": 4727, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38971876983287523, -0.07921818806854011 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4727, "yaw_axis_rad": 0.17152555987473095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forged_encoder_only", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-06-unreleased.json", "timing_ms": [ { "actuator_observation": 0.986875, "baseline": 0.479333, "camera_observation": 16.953209, "fusion": 0.017875, "input_json_io": 1.394083, "png_io_decode": 7.575167, "processed_window": 27.406542 }, { "actuator_observation": 0.977083, "baseline": 0.487125, "camera_observation": 17.016167, "fusion": 0.015042, "input_json_io": 1.34775, "png_io_decode": 7.179958, "processed_window": 27.023125 }, { "actuator_observation": 1.141166, "baseline": 0.481042, "camera_observation": 16.920625, "fusion": 0.012875, "input_json_io": 1.577542, "png_io_decode": 7.073833, "processed_window": 27.207083 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.040447617474724556, "jaw_gap_min_m": 0.03843319818990974, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002082375055814668, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-06-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.1887930516138745 ], "displacement_interval_m": [ 0.0, 0.08377586103226826 ], "displacement_m": 2.5861032268256076e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.187947279798451 ], "displacement_interval_m": [ 0.0, 0.08375894559595981 ], "displacement_m": 8.945595959799424e-06, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.1882494881072985 ], "displacement_interval_m": [ 0.0, 0.08376498976213674 ], "displacement_m": 1.4989762136731985e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187994832358749 ], "displacement_interval_m": [ 0.0, 0.08375989664716575 ], "displacement_m": 9.896647165740156e-06, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.188446109892032 ], "displacement_interval_m": [ 0.0, 0.08376892219783143 ], "displacement_m": 1.892219783141947e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41888377791624054 ], "net_displacement_interval_m": [ 0.0, 0.08377675558323888 ], "net_displacement_m": 2.6755583238878414e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04325984149309503, 0.17990530285729023 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38968955026455054, -0.07919907407407178 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17127245669222502, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04326247793428327, 0.17990306804221867 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897146106644099, -0.0792054591620798 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17141520739656313, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323580067955872, 0.17990297464168736 ], "candidate_pixels": 4725, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3897228835978839, -0.07920886243386013 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4725, "yaw_axis_rad": 0.17148926203213177, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04323114311674458, 0.17990104370419963 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970932077867143, -0.07921524545069596 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4726, "yaw_axis_rad": 0.1716071532724519, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432336950694989, 0.17990122603919806 ], "candidate_pixels": 4727, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38971876983287523, -0.07921818806854011 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4727, "yaw_axis_rad": 0.17152555987473095, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043236974582152705, 0.17990275092688673 ], "candidate_pixels": 4726, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38970059246720296, -0.07922344477359058 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4726, "yaw_axis_rad": 0.17144531754309122, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-06-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/a2e5cd616aa16cb1f5513f332fa6e6979c0bdf897743c8da871bc7dfb3e891ba.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-forged_effort_only", "layout_id": "fresh-06", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0010269870793730286, "complete": false, "linear_speed_m_s": 0.00015195627911284316, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0059562378999419765, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.09995916427786608 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-06-unreleased.json", "timing_ms": [ { "actuator_observation": 0.970708, "baseline": 0.519792, "camera_observation": 16.546625, "fusion": 0.014167, "input_json_io": 1.384, "png_io_decode": 7.033583, "processed_window": 26.468875 }, { "actuator_observation": 0.990458, "baseline": 0.536917, "camera_observation": 16.9775, "fusion": 0.015333, "input_json_io": 1.328083, "png_io_decode": 7.889875, "processed_window": 27.738166 }, { "actuator_observation": 0.975417, "baseline": 0.490416, "camera_observation": 16.632167, "fusion": 0.015333, "input_json_io": 1.424916, "png_io_decode": 9.455709, "processed_window": 28.993958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-06-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.679356933436236e-09, "upper": 2.679356933436236e-09 }, "observed": 2.679356933436236e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153278491991e-10, "upper": 9.189153278491991e-10 }, "observed": 9.189153278491991e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.08574184034869e-07, "upper": 1.08574184034869e-07 }, "observed": 1.08574184034869e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965642638122063e-09, "upper": 2.1965642638122063e-09 }, "observed": 2.1965642638122063e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3591, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/fresh-06-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.389885, -0.086064 ], "goal_yaw_rad": 0.065939, "object_id": "shoe_trainer_left" }, "current_image": "images/55acaa7795eb45fea6b3a39d1579c0be460d89bc52e9431a29f6fefa829d3214.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/84af2c2508d77307a66f024785b58405be0176fca0941d02ffb78b67236d0b2e.png", "id": "fresh-06-all_channels_forged", "layout_id": "fresh-06", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024479093084851206, "complete": false, "linear_speed_m_s": 0.609800616095563, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603133424814433, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.351710656281868e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-06-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-06-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.128625, "baseline": 0.512916, "camera_observation": 18.867459, "fusion": 0.005083, "input_json_io": 1.443, "png_io_decode": 6.724, "processed_window": 28.681083 }, { "actuator_observation": 1.1885, "baseline": 0.54175, "camera_observation": 20.622292, "fusion": 0.00775, "input_json_io": 1.656834, "png_io_decode": 7.075333, "processed_window": 31.092459 }, { "actuator_observation": 1.085167, "baseline": 0.492583, "camera_observation": 18.306542, "fusion": 0.004375, "input_json_io": 1.540125, "png_io_decode": 7.03425, "processed_window": 28.463042 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042997241060996214, 0.2077312215201409 ], "candidate_pixels": 5245, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5751249999999999, -0.09836213060057195 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5248, "yaw_axis_rad": -0.08774698950649196, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/f0d87064efe040a6b37638851e07451dd2f2f3983cb52d901ea63ed5f7ff2a04.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_position", "layout_id": "fresh-07", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546452315141569e-10, "complete": false, "linear_speed_m_s": 8.405762505522344e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999996806381232, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911826242337895e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-07-wrong_position.json", "timing_ms": [ { "actuator_observation": 1.256834, "baseline": 0.529084, "camera_observation": 18.512416, "fusion": 0.025, "input_json_io": 1.59125, "png_io_decode": 8.290583, "processed_window": 30.205167 }, { "actuator_observation": 1.133667, "baseline": 0.53475, "camera_observation": 18.808, "fusion": 0.021583, "input_json_io": 1.609458, "png_io_decode": 7.467542, "processed_window": 29.575 }, { "actuator_observation": 1.137417, "baseline": 0.61025, "camera_observation": 18.0195, "fusion": 0.012458, "input_json_io": 1.572833, "png_io_decode": 7.539833, "processed_window": 28.892291 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042847239732536256, 0.20805704276793033 ], "candidate_pixels": 5247, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4139423718315252, -0.11201627120259246 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5250, "yaw_axis_rad": 1.4829997294441828, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/5ca2c885817be19f4d3fc90110b00b098d6960bae35cd6c0f8977c5da0c46fcc.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_orientation", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545687918402713e-10, "complete": false, "linear_speed_m_s": 8.405115277989858e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418346656895e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037153 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-07-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 1.051333, "baseline": 0.4755, "camera_observation": 18.067375, "fusion": 0.017208, "input_json_io": 1.419958, "png_io_decode": 7.029042, "processed_window": 28.060416 }, { "actuator_observation": 1.0065, "baseline": 0.511375, "camera_observation": 18.180584, "fusion": 0.0145, "input_json_io": 1.467458, "png_io_decode": 6.48825, "processed_window": 27.668667 }, { "actuator_observation": 1.144417, "baseline": 0.488166, "camera_observation": 18.582292, "fusion": 0.023, "input_json_io": 1.445041, "png_io_decode": 6.849584, "processed_window": 28.5325 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-07-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/dade033929d82c36c8f29022876bcd0ec3aceb3a45c1e4cd069441a2dad8b3aa.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-missing_target", "layout_id": "fresh-07", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-07-missing_target.json", "timing_ms": [ { "actuator_observation": 1.06125, "baseline": 0.484166, "camera_observation": 13.117, "fusion": 0.004375, "input_json_io": 1.520708, "png_io_decode": 8.280084, "processed_window": 24.467583 }, { "actuator_observation": 0.997833, "baseline": 0.49375, "camera_observation": 13.215333, "fusion": 0.004334, "input_json_io": 1.535125, "png_io_decode": 6.113667, "processed_window": 22.360042 }, { "actuator_observation": 1.0845, "baseline": 0.484875, "camera_observation": 14.437792, "fusion": 0.004833, "input_json_io": 1.496417, "png_io_decode": 6.524541, "processed_window": 24.032958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-07-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/45299cea09da246e8b79163dcf82fcae45de1b1c08f8bdcdb0a15f9e9db6b4a5.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-wrong_object", "layout_id": "fresh-07", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-07-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.986416, "baseline": 0.475625, "camera_observation": 12.597959, "fusion": 0.004417, "input_json_io": 1.366458, "png_io_decode": 6.517, "processed_window": 21.947875 }, { "actuator_observation": 1.065709, "baseline": 0.579458, "camera_observation": 12.984833, "fusion": 0.005125, "input_json_io": 1.50775, "png_io_decode": 6.563625, "processed_window": 22.7065 }, { "actuator_observation": 1.120875, "baseline": 0.514167, "camera_observation": 13.739083, "fusion": 0.003917, "input_json_io": 1.483125, "png_io_decode": 6.732916, "processed_window": 23.594083 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008253089429942, "jaw_gap_min_m": 0.03807962208093761, "maximum_abs_drive_effort_n": 0.7887748019052442, "maximum_abs_jaw_rate_m_s": 0.0020201493421171924, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187743733377884 ], "displacement_interval_m": [ 0.0, 0.08375487466754845 ], "displacement_m": 4.874667548448045e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188534473394202 ], "displacement_interval_m": [ 0.0, 0.08377068946787482 ], "displacement_m": 2.06894678748143e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.1878896209855645 ], "displacement_interval_m": [ 0.0, 0.08375779241970206 ], "displacement_m": 7.792419702054158e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188377023311563 ], "displacement_interval_m": [ 0.0, 0.08376754046622205 ], "displacement_m": 1.7540466222048548e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188475680020612 ], "displacement_interval_m": [ 0.0, 0.08376951360040301 ], "displacement_m": 1.9513600403008175e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188808175363855 ], "displacement_interval_m": [ 0.0, 0.08377616350726787 ], "displacement_m": 2.6163507267869118e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188002133334461 ], "displacement_interval_m": [ 0.0, 0.08376004266668 ], "displacement_m": 1.0042666679995106e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188293025696816 ], "displacement_interval_m": [ 0.0, 0.08376586051392709 ], "displacement_m": 1.5860513927092906e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18808680066966 ], "displacement_interval_m": [ 0.0, 0.08376173601338396 ], "displacement_m": 1.173601338395495e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41912249125839895 ], "net_displacement_interval_m": [ 0.0, 0.08382449825167056 ], "net_displacement_m": 7.449825167054491e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04315640813117124, 0.1777176009248057 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41644404812606484, -0.09850750638841789 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842968128410501, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311380849494916, 0.17771800290157247 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164439563365283, -0.0985123801916955 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09842577218794801, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311303787250466, 0.1777385120591813 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41646454429301544, -0.09851442717206353 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842637101279461, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043100719984072, 0.17773970887135 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164634795570699, -0.09852214650766832 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09866101657816717, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310858363763398, 0.1777405480458698 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164801650692227, -0.09852755591054536 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09852804769020818, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311595084796097, 0.17765472184837627 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649898806987656, -0.09853270132083734 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09839752620384434, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04312731699388913, 0.17766272689060028 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41652280477408365, -0.09854353154305426 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.0981848142054993, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311622350326236, 0.17766457852370462 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41651907502131297, -0.09855285592498096 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4692, "yaw_axis_rad": -0.09807910194236236, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313402171851085, 0.17773954854503432 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41650484661269715, -0.098559863655733 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09798976261852488, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-unreleased", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-07-unreleased.json", "timing_ms": [ { "actuator_observation": 1.083583, "baseline": 0.535209, "camera_observation": 20.274375, "fusion": 0.016208, "input_json_io": 1.561834, "png_io_decode": 7.770541, "processed_window": 31.24175 }, { "actuator_observation": 1.096375, "baseline": 0.533458, "camera_observation": 18.972042, "fusion": 0.014833, "input_json_io": 1.560166, "png_io_decode": 8.272334, "processed_window": 30.449208 }, { "actuator_observation": 1.019209, "baseline": 0.469416, "camera_observation": 16.512875, "fusion": 0.014541, "input_json_io": 1.525542, "png_io_decode": 6.974125, "processed_window": 26.515708 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.535678420986 ], "displacement_interval_m": [ 0.0, 0.09071356841972007 ], "displacement_m": 0.006963568419720065, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.556421871750488 ], "displacement_interval_m": [ 0.0, 0.09112843743500984 ], "displacement_m": 0.007378437435009842, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.5811935953486405 ], "displacement_interval_m": [ 0.0, 0.0916238719069729 ], "displacement_m": 0.007873871906972894, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.612397366302417 ], "displacement_interval_m": [ 0.0, 0.09224794732604842 ], "displacement_m": 0.008497947326048421, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.73140383009608 ], "displacement_interval_m": [ 0.0, 0.09462807660192168 ], "displacement_m": 0.010878076601921676, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.77571405038924 ], "displacement_interval_m": [ 0.0, 0.09551428100778489 ], "displacement_m": 0.011764281007784885, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.799777248259885 ], "displacement_interval_m": [ 0.0, 0.0959955449651978 ], "displacement_m": 0.0122455449651978, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.807099015873475 ], "displacement_interval_m": [ 0.0, 0.09614198031746958 ], "displacement_m": 0.012391980317469575, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.808505851467844 ], "displacement_interval_m": [ 0.0, 0.09617011702935697 ], "displacement_m": 0.012420117029356968, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.802759276290594 ], "displacement_interval_m": [ 0.0, 0.09605518552581196 ], "displacement_m": 0.01230518552581196, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.09472763505279472, 0.932227635052794 ], "net_displacement_interval_m": [ 0.01894552701055896, 0.18644552701055897 ], "net_displacement_m": 0.10269552701055897, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043496919033981986, 0.1701744702932047 ], "candidate_pixels": 4313, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4355122594481797, -0.09936282749826521 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4317, "yaw_axis_rad": -0.10840400352476909, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0433142828079745, 0.18245870641069967 ], "candidate_pixels": 4614, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4428811768530559, -0.0989881339401848 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4617, "yaw_axis_rad": -0.1034893774401695, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0432372363150574, 0.19469332906370268 ], "candidate_pixels": 4888, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.450748261047463, -0.09866126227496044 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4891, "yaw_axis_rad": -0.09895052053176911, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04302112251200977, 0.20574375192372996 ], "candidate_pixels": 5095, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.45924251717369974, -0.09841081943081541 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5098, "yaw_axis_rad": -0.0944702258674539, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0430028880624837, 0.20792612366171653 ], "candidate_pixels": 5186, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.47012051677593497, -0.09836989008870087 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5189, "yaw_axis_rad": -0.09060115453934792, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04295069527952984, 0.20775083828499386 ], "candidate_pixels": 5231, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48188479736188083, -0.09837304052762391 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5234, "yaw_axis_rad": -0.0884109619315625, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042942701062432254, 0.20799778342640096 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.49413034147272056, -0.09836846623426176 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08794022480032915, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04294124667219527, 0.20788557600894766 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5065223197252958, -0.09836131247615414 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08768589461978316, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04293784868915855, 0.20779319718736664 ], "candidate_pixels": 5242, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5189424360930944, -0.09836536627241511 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5245, "yaw_axis_rad": -0.08778176314604735, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04299643127973191, 0.20780271765544925 ], "candidate_pixels": 5248, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5312476181402439, -0.09837461890243895 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5251, "yaw_axis_rad": -0.08791809276891716, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-sustained_motion", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-07-sustained_motion.json", "timing_ms": [ { "actuator_observation": 1.103833, "baseline": 0.635458, "camera_observation": 18.162084, "fusion": 0.012292, "input_json_io": 1.389416, "png_io_decode": 6.726292, "processed_window": 28.029375 }, { "actuator_observation": 1.088833, "baseline": 0.495667, "camera_observation": 17.834375, "fusion": 0.017583, "input_json_io": 1.447875, "png_io_decode": 6.590208, "processed_window": 27.474541 }, { "actuator_observation": 1.026625, "baseline": 0.487708, "camera_observation": 17.614167, "fusion": 0.014208, "input_json_io": 1.473666, "png_io_decode": 7.173959, "processed_window": 27.790333 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-instant_alias", "layout_id": "fresh-07", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-07-instant_alias.json", "timing_ms": [ { "actuator_observation": 1.066083, "baseline": 0.499833, "camera_observation": 18.633417, "fusion": 0.015958, "input_json_io": 1.460375, "png_io_decode": 6.630125, "processed_window": 28.305791 }, { "actuator_observation": 1.010125, "baseline": 0.548958, "camera_observation": 18.556667, "fusion": 0.014333, "input_json_io": 1.679917, "png_io_decode": 6.668125, "processed_window": 28.478125 }, { "actuator_observation": 1.0445, "baseline": 0.471042, "camera_observation": 17.644083, "fusion": 0.011958, "input_json_io": 1.415583, "png_io_decode": 6.330792, "processed_window": 26.917958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043374271180947874, 0.18540344780961054 ], "candidate_pixels": 4519, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.440546996016818, -0.1040289610533347 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4522, "yaw_axis_rad": -0.10517588605748074, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/4c96576481bbda1a77cee247eed5890ca9ae3a374d0263f0824b54cc56128b96.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-yaw_flip180", "layout_id": "fresh-07", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545481339570781e-10, "complete": false, "linear_speed_m_s": 8.404857103254578e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418318903458e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.14159265139861 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-07-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.972792, "baseline": 0.503083, "camera_observation": 16.533625, "fusion": 0.013541, "input_json_io": 1.605334, "png_io_decode": 5.903125, "processed_window": 25.5315 }, { "actuator_observation": 0.985917, "baseline": 0.630666, "camera_observation": 16.239875, "fusion": 0.0135, "input_json_io": 1.548708, "png_io_decode": 6.440667, "processed_window": 25.859333 }, { "actuator_observation": 1.00125, "baseline": 0.464042, "camera_observation": 16.106, "fusion": 0.014417, "input_json_io": 1.371542, "png_io_decode": 6.340208, "processed_window": 25.297459 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-lookalike_wrongobject", "layout_id": "fresh-07", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-07-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 1.018375, "baseline": 0.48425, "camera_observation": 17.209125, "fusion": 0.010417, "input_json_io": 1.444833, "png_io_decode": 6.2155, "processed_window": 26.3825 }, { "actuator_observation": 0.900666, "baseline": 0.427917, "camera_observation": 16.010875, "fusion": 0.011334, "input_json_io": 1.321542, "png_io_decode": 5.484125, "processed_window": 24.156459 }, { "actuator_observation": 0.896334, "baseline": 0.433625, "camera_observation": 16.039583, "fusion": 0.01125, "input_json_io": 1.284833, "png_io_decode": 5.51525, "processed_window": 24.180875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04380902441786952, 0.15776120622736206 ], "candidate_pixels": 3975, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42842405660377353, -0.09979795597484796 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4060, "yaw_axis_rad": -0.11450517732502696, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/ea96468935076c02905593b5ac5571bbba19a2a7526394a1541b7ba802f44b56.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forgery-elevated_support", "layout_id": "fresh-07", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546572397627967e-10, "complete": false, "linear_speed_m_s": 8.405910805239593e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418394507453e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191182374433609e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-07-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-07-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.896541, "baseline": 0.425875, "camera_observation": 15.878959, "fusion": 0.010125, "input_json_io": 1.275125, "png_io_decode": 5.34675, "processed_window": 23.833375 }, { "actuator_observation": 0.903041, "baseline": 0.435708, "camera_observation": 16.007667, "fusion": 0.009709, "input_json_io": 1.249084, "png_io_decode": 5.76625, "processed_window": 24.371459 }, { "actuator_observation": 0.957375, "baseline": 0.421417, "camera_observation": 16.073166, "fusion": 0.010667, "input_json_io": 1.251083, "png_io_decode": 5.350417, "processed_window": 24.064125 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-07-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_missing", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.781625, "baseline": 0.386125, "camera_observation": 0.001084, "fusion": 0.002166, "input_json_io": 1.160125, "png_io_decode": 0.0005, "processed_window": 2.331625 }, { "actuator_observation": 0.798834, "baseline": 0.393667, "camera_observation": 0.000958, "fusion": 0.002, "input_json_io": 1.090292, "png_io_decode": 0.000458, "processed_window": 2.286209 }, { "actuator_observation": 0.779209, "baseline": 0.377375, "camera_observation": 0.000958, "fusion": 0.001791, "input_json_io": 1.092875, "png_io_decode": 0.000417, "processed_window": 2.252625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-07-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_stale", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.790125, "baseline": 0.389333, "camera_observation": 0.00625, "fusion": 0.002542, "input_json_io": 1.125666, "png_io_decode": 4.868042, "processed_window": 7.181958 }, { "actuator_observation": 0.812458, "baseline": 0.408459, "camera_observation": 0.007083, "fusion": 0.002792, "input_json_io": 1.110334, "png_io_decode": 5.179041, "processed_window": 7.520167 }, { "actuator_observation": 0.82175, "baseline": 0.409667, "camera_observation": 0.006458, "fusion": 0.002583, "input_json_io": 1.132417, "png_io_decode": 5.3345, "processed_window": 7.707375 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-07-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_gap", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.830417, "baseline": 0.397334, "camera_observation": 0.003541, "fusion": 0.002292, "input_json_io": 1.113875, "png_io_decode": 4.502625, "processed_window": 6.850084 }, { "actuator_observation": 0.804, "baseline": 0.401042, "camera_observation": 0.003792, "fusion": 0.002708, "input_json_io": 1.111042, "png_io_decode": 4.436916, "processed_window": 6.7595 }, { "actuator_observation": 0.798875, "baseline": 0.440583, "camera_observation": 0.003459, "fusion": 0.002458, "input_json_io": 1.088333, "png_io_decode": 4.312125, "processed_window": 6.645833 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-07-fault-camera_bad_calibration_id-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-camera_bad_calibration_id", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only camera_bad_calibration_id; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "camera_bad_calibration_id", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.7985, "baseline": 0.394708, "camera_observation": 0.001375, "fusion": 0.002458, "input_json_io": 1.114542, "png_io_decode": 4.688667, "processed_window": 7.00025 }, { "actuator_observation": 0.836541, "baseline": 0.402375, "camera_observation": 0.001459, "fusion": 0.00225, "input_json_io": 1.086083, "png_io_decode": 4.691125, "processed_window": 7.019833 }, { "actuator_observation": 0.789959, "baseline": 0.388709, "camera_observation": 0.001041, "fusion": 0.002166, "input_json_io": 1.121084, "png_io_decode": 5.236041, "processed_window": 7.539 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-07-fault-actuator_missing-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_missing", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.003625, "baseline": 0.400792, "camera_observation": 14.876958, "fusion": 0.015875, "input_json_io": 0.445958, "png_io_decode": 4.956542, "processed_window": 20.69975 }, { "actuator_observation": 0.003333, "baseline": 0.383166, "camera_observation": 14.246917, "fusion": 0.011625, "input_json_io": 0.502041, "png_io_decode": 4.882334, "processed_window": 20.029416 }, { "actuator_observation": 0.00325, "baseline": 0.379666, "camera_observation": 14.415167, "fusion": 0.011042, "input_json_io": 0.472542, "png_io_decode": 4.711417, "processed_window": 19.993084 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-07-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_stale", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.022125, "baseline": 0.373792, "camera_observation": 14.11875, "fusion": 0.009708, "input_json_io": 1.084208, "png_io_decode": 4.694, "processed_window": 20.302583 }, { "actuator_observation": 0.023917, "baseline": 0.398083, "camera_observation": 14.50525, "fusion": 0.0095, "input_json_io": 1.146875, "png_io_decode": 4.871875, "processed_window": 20.9555 }, { "actuator_observation": 0.028209, "baseline": 0.377833, "camera_observation": 14.609708, "fusion": 0.012333, "input_json_io": 1.09175, "png_io_decode": 4.683292, "processed_window": 20.803125 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-07-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_gap", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.00375, "baseline": 0.389417, "camera_observation": 14.413583, "fusion": 0.011792, "input_json_io": 1.10275, "png_io_decode": 4.757667, "processed_window": 20.678959 }, { "actuator_observation": 0.002625, "baseline": 0.38075, "camera_observation": 14.199541, "fusion": 0.009292, "input_json_io": 1.172625, "png_io_decode": 4.890875, "processed_window": 20.655708 }, { "actuator_observation": 0.003333, "baseline": 0.383459, "camera_observation": 14.314625, "fusion": 0.011708, "input_json_io": 1.09725, "png_io_decode": 4.642416, "processed_window": 20.452791 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-07-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-fault-actuator_wrong_units", "layout_id": "fresh-07", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545400045692877e-10, "complete": true, "linear_speed_m_s": 8.404744380784537e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418316250686e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911835540455726e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-07-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-07-complete.json", "timing_ms": [ { "actuator_observation": 0.711375, "baseline": 0.388542, "camera_observation": 14.374416, "fusion": 0.012917, "input_json_io": 1.24075, "png_io_decode": 4.910917, "processed_window": 21.638917 }, { "actuator_observation": 0.70625, "baseline": 0.384208, "camera_observation": 14.490333, "fusion": 0.011, "input_json_io": 1.159583, "png_io_decode": 4.956542, "processed_window": 21.707916 }, { "actuator_observation": 0.69625, "baseline": 0.386083, "camera_observation": 14.043583, "fusion": 0.011792, "input_json_io": 1.11575, "png_io_decode": 4.773417, "processed_window": 21.026875 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-07-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-07-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-refreshed_camera_replay", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-07-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.79675, "baseline": 0.382667, "camera_observation": 14.036875, "fusion": 0.010917, "input_json_io": 1.098708, "png_io_decode": 4.802458, "processed_window": 21.128375 }, { "actuator_observation": 0.812708, "baseline": 0.383958, "camera_observation": 14.099959, "fusion": 0.011208, "input_json_io": 1.136209, "png_io_decode": 4.920458, "processed_window": 21.3645 }, { "actuator_observation": 0.867583, "baseline": 0.389792, "camera_observation": 14.306167, "fusion": 0.010708, "input_json_io": 1.169833, "png_io_decode": 5.343, "processed_window": 22.087083 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7887748019052442, "maximum_abs_jaw_rate_m_s": 0.0020201493421171924, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-07-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187743733377884 ], "displacement_interval_m": [ 0.0, 0.08375487466754845 ], "displacement_m": 4.874667548448045e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188534473394202 ], "displacement_interval_m": [ 0.0, 0.08377068946787482 ], "displacement_m": 2.06894678748143e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.1878896209855645 ], "displacement_interval_m": [ 0.0, 0.08375779241970206 ], "displacement_m": 7.792419702054158e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188377023311563 ], "displacement_interval_m": [ 0.0, 0.08376754046622205 ], "displacement_m": 1.7540466222048548e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188475680020612 ], "displacement_interval_m": [ 0.0, 0.08376951360040301 ], "displacement_m": 1.9513600403008175e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188808175363855 ], "displacement_interval_m": [ 0.0, 0.08377616350726787 ], "displacement_m": 2.6163507267869118e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188002133334461 ], "displacement_interval_m": [ 0.0, 0.08376004266668 ], "displacement_m": 1.0042666679995106e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188293025696816 ], "displacement_interval_m": [ 0.0, 0.08376586051392709 ], "displacement_m": 1.5860513927092906e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18808680066966 ], "displacement_interval_m": [ 0.0, 0.08376173601338396 ], "displacement_m": 1.173601338395495e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41912249125839895 ], "net_displacement_interval_m": [ 0.0, 0.08382449825167056 ], "net_displacement_m": 7.449825167054491e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04315640813117124, 0.1777176009248057 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41644404812606484, -0.09850750638841789 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842968128410501, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311380849494916, 0.17771800290157247 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164439563365283, -0.0985123801916955 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09842577218794801, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311303787250466, 0.1777385120591813 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41646454429301544, -0.09851442717206353 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842637101279461, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043100719984072, 0.17773970887135 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164634795570699, -0.09852214650766832 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09866101657816717, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310858363763398, 0.1777405480458698 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164801650692227, -0.09852755591054536 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09852804769020818, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311595084796097, 0.17765472184837627 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649898806987656, -0.09853270132083734 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09839752620384434, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04312731699388913, 0.17766272689060028 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41652280477408365, -0.09854353154305426 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.0981848142054993, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311622350326236, 0.17766457852370462 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41651907502131297, -0.09855285592498096 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4692, "yaw_axis_rad": -0.09807910194236236, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313402171851085, 0.17773954854503432 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41650484661269715, -0.098559863655733 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09798976261852488, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forged_encoder_only", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-07-unreleased.json", "timing_ms": [ { "actuator_observation": 0.788542, "baseline": 0.380542, "camera_observation": 13.3425, "fusion": 0.010916, "input_json_io": 1.091542, "png_io_decode": 5.712541, "processed_window": 21.326583 }, { "actuator_observation": 0.819667, "baseline": 0.385292, "camera_observation": 13.505541, "fusion": 0.00925, "input_json_io": 1.118083, "png_io_decode": 5.709125, "processed_window": 21.546958 }, { "actuator_observation": 0.801375, "baseline": 0.38775, "camera_observation": 13.684875, "fusion": 0.011375, "input_json_io": 1.203333, "png_io_decode": 5.49075, "processed_window": 21.579458 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04008253089429942, "jaw_gap_min_m": 0.03807962208093761, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020201493421171924, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-07-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187743733377884 ], "displacement_interval_m": [ 0.0, 0.08375487466754845 ], "displacement_m": 4.874667548448045e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188534473394202 ], "displacement_interval_m": [ 0.0, 0.08377068946787482 ], "displacement_m": 2.06894678748143e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.1878896209855645 ], "displacement_interval_m": [ 0.0, 0.08375779241970206 ], "displacement_m": 7.792419702054158e-06, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.188377023311563 ], "displacement_interval_m": [ 0.0, 0.08376754046622205 ], "displacement_m": 1.7540466222048548e-05, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.188475680020612 ], "displacement_interval_m": [ 0.0, 0.08376951360040301 ], "displacement_m": 1.9513600403008175e-05, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188808175363855 ], "displacement_interval_m": [ 0.0, 0.08377616350726787 ], "displacement_m": 2.6163507267869118e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188002133334461 ], "displacement_interval_m": [ 0.0, 0.08376004266668 ], "displacement_m": 1.0042666679995106e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.188293025696816 ], "displacement_interval_m": [ 0.0, 0.08376586051392709 ], "displacement_m": 1.5860513927092906e-05, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18808680066966 ], "displacement_interval_m": [ 0.0, 0.08376173601338396 ], "displacement_m": 1.173601338395495e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41912249125839895 ], "net_displacement_interval_m": [ 0.0, 0.08382449825167056 ], "net_displacement_m": 7.449825167054491e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04315640813117124, 0.1777176009248057 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41644404812606484, -0.09850750638841789 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842968128410501, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311380849494916, 0.17771800290157247 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164439563365283, -0.0985123801916955 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09842577218794801, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311303787250466, 0.1777385120591813 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41646454429301544, -0.09851442717206353 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09842637101279461, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043100719984072, 0.17773970887135 ], "candidate_pixels": 4696, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164634795570699, -0.09852214650766832 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4696, "yaw_axis_rad": -0.09866101657816717, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04310858363763398, 0.1777405480458698 ], "candidate_pixels": 4695, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4164801650692227, -0.09852755591054536 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4695, "yaw_axis_rad": -0.09852804769020818, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311595084796097, 0.17765472184837627 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649898806987656, -0.09853270132083734 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09839752620384434, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04312731699388913, 0.17766272689060028 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41652280477408365, -0.09854353154305426 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4692, "yaw_axis_rad": -0.0981848142054993, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311622350326236, 0.17766457852370462 ], "candidate_pixels": 4692, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41651907502131297, -0.09855285592498096 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4692, "yaw_axis_rad": -0.09807910194236236, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313402171851085, 0.17773954854503432 ], "candidate_pixels": 4694, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41650484661269715, -0.098559863655733 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4694, "yaw_axis_rad": -0.09798976261852488, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04313593624586702, 0.17774163551732483 ], "candidate_pixels": 4693, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41649358086511834, -0.09856315256765623 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4693, "yaw_axis_rad": -0.09808861544571279, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-07-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/07248e369dda471a0a7638bd6ab92221c0db7ca7e9188eb16088ac3bc91187e9.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-forged_effort_only", "layout_id": "fresh-07", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0026782970126694563, "complete": false, "linear_speed_m_s": 9.464979230578859e-05, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0007253495416552627, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.004162432730664689 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-07-unreleased.json", "timing_ms": [ { "actuator_observation": 0.808375, "baseline": 0.410292, "camera_observation": 13.43925, "fusion": 0.010375, "input_json_io": 1.172625, "png_io_decode": 5.7415, "processed_window": 21.582417 }, { "actuator_observation": 0.7755, "baseline": 0.379667, "camera_observation": 13.071667, "fusion": 0.00925, "input_json_io": 1.187334, "png_io_decode": 5.509916, "processed_window": 20.933334 }, { "actuator_observation": 0.805333, "baseline": 0.368791, "camera_observation": 13.351834, "fusion": 0.013875, "input_json_io": 1.059375, "png_io_decode": 5.345, "processed_window": 20.944208 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-07-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6789391326071102e-09, "upper": 2.6789391326071102e-09 }, "observed": 2.6789391326071102e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153481273943e-10, "upper": 9.189153481273943e-10 }, "observed": 9.189153481273943e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418316250686e-07, "upper": 1.0857418316250686e-07 }, "observed": 1.0857418316250686e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641111565404e-09, "upper": 2.1965641111565404e-09 }, "observed": 2.1965641111565404e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04376747500799508, 0.15772947398867115 ], "candidate_pixels": 3983, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.42856185664072305, -0.09979082977655551 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 4069, "yaw_axis_rad": -0.1135584790107238, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-07-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.416413, -0.100906 ], "goal_yaw_rad": -0.087482, "object_id": "shoe_trainer_left" }, "current_image": "images/a03338f8417584881b7e3d104ba93f0283f126b9df821562ca85c0ecdb7927a7.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/9f66af25ced56dd4ae18acd6cc19970b7b3291179fa8b7847d1fb6b9c07c0600.png", "id": "fresh-07-all_channels_forged", "layout_id": "fresh-07", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.02049507491625794, "complete": false, "linear_speed_m_s": 0.609950817562969, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603356426288764, "present": true, "released": true, "supported": true, "yaw_error_rad": 8.742305657033489e-07 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-07-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-07-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.838, "baseline": 0.401583, "camera_observation": 14.032792, "fusion": 0.0115, "input_json_io": 1.122583, "png_io_decode": 5.159334, "processed_window": 21.565792 }, { "actuator_observation": 0.760208, "baseline": 0.372334, "camera_observation": 13.76725, "fusion": 0.009917, "input_json_io": 1.08225, "png_io_decode": 5.007125, "processed_window": 20.999084 }, { "actuator_observation": 0.751333, "baseline": 0.365083, "camera_observation": 13.779542, "fusion": 0.014083, "input_json_io": 1.100042, "png_io_decode": 4.878375, "processed_window": 20.888458 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_position-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5450575109544673, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-wrong_position-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/5c7a5235bc7a3154573f648d77ffe4814064af351b9414755ed6002e6a05544f.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_position", "layout_id": "fresh-08", "note": "Authored initial target position is displaced 170 mm along world X.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545753822341206e-10, "complete": false, "linear_speed_m_s": 8.405144723544146e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.16999998103014372, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911830475063176e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_position-primary_packet_file.json", "scenario": "wrong_position", "state_file": "states/native-fresh-08-wrong_position.json", "timing_ms": [ { "actuator_observation": 0.8055, "baseline": 0.375167, "camera_observation": 13.41825, "fusion": 0.009958, "input_json_io": 1.040667, "png_io_decode": 5.451083, "processed_window": 21.100625 }, { "actuator_observation": 0.777, "baseline": 0.364041, "camera_observation": 12.944375, "fusion": 0.009209, "input_json_io": 1.129167, "png_io_decode": 5.094, "processed_window": 20.317792 }, { "actuator_observation": 0.763791, "baseline": 0.364041, "camera_observation": 13.227459, "fusion": 0.010875, "input_json_io": 1.084666, "png_io_decode": 4.998334, "processed_window": 20.449166 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_orientation-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04311051611932363, 0.20863760778002344 ], "candidate_pixels": 5171, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38566246857474445, -0.1667715383871591 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5173, "yaw_axis_rad": -1.5402879867482904, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-wrong_orientation-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/551b60ecd885f73d6c56355c56fe86c7cdee8fa6bf39545662456c652cda56a1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_primary_axial_yaw_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_orientation", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 90 degrees.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.54599920050319e-10, "complete": false, "linear_speed_m_s": 8.405333880657776e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418322845445e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.5707963246037158 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_orientation-primary_packet_file.json", "scenario": "wrong_orientation", "state_file": "states/native-fresh-08-wrong_orientation.json", "timing_ms": [ { "actuator_observation": 0.765625, "baseline": 0.3705, "camera_observation": 14.095333, "fusion": 0.009709, "input_json_io": 1.107875, "png_io_decode": 5.124, "processed_window": 21.473042 }, { "actuator_observation": 0.780417, "baseline": 0.364084, "camera_observation": 14.235166, "fusion": 0.009583, "input_json_io": 1.068167, "png_io_decode": 4.871291, "processed_window": 21.328708 }, { "actuator_observation": 0.756458, "baseline": 0.364792, "camera_observation": 14.039083, "fusion": 0.008917, "input_json_io": 1.065334, "png_io_decode": 4.624583, "processed_window": 20.859167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999998822, "jaw_gap_min_m": 0.06899999999966128, "maximum_abs_drive_effort_n": 0.020000000065587536, "maximum_abs_jaw_rate_m_s": 0.0020000000058774253, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-missing_target-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-08-missing_target-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/cc799d4024179ccf8183bd7a955f8b5e396b733a1a222a1e628f7176457292c1.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-missing_target", "layout_id": "fresh-08", "note": "The target body is absent from the model.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-missing_target-primary_packet_file.json", "scenario": "missing_target", "state_file": "states/native-fresh-08-missing_target.json", "timing_ms": [ { "actuator_observation": 0.764416, "baseline": 0.375333, "camera_observation": 9.595584, "fusion": 0.003, "input_json_io": 1.12475, "png_io_decode": 4.941958, "processed_window": 16.805041 }, { "actuator_observation": 0.781833, "baseline": 0.367333, "camera_observation": 9.518917, "fusion": 0.0025, "input_json_io": 1.04075, "png_io_decode": 4.43225, "processed_window": 16.143583 }, { "actuator_observation": 0.740458, "baseline": 0.3565, "camera_observation": 9.463833, "fusion": 0.002292, "input_json_io": 1.038541, "png_io_decode": 4.382334, "processed_window": 15.983958 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-wrong_object-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": null, "net_displacement_interval_m": null, "net_displacement_m": null, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6000000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6200000000000004, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6600000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.6800000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7000000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7200000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7400000000000005, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7600000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.7800000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 0, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": null, "reason": "no_unambiguous_visible_proxy", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "unknown", "t_s": 0.8000000000000006, "visible_green_pixels": 3, "yaw_axis_rad": null, "yaw_bound_rad": 0.12 } ], "reason": "unobservable_frame", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "unknown" }, "camera_packet_file": "packets/native-fresh-08-wrong_object-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/15643bca6e60b17f443cbbab9488310862830ac291cc09099f3e2d80e1022760.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "unobservable_frame" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-wrong_object", "layout_id": "fresh-08", "note": "An orange decoy replaces the target body.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-wrong_object-primary_packet_file.json", "scenario": "wrong_object", "state_file": "states/native-fresh-08-wrong_object.json", "timing_ms": [ { "actuator_observation": 0.768541, "baseline": 0.362625, "camera_observation": 9.705792, "fusion": 0.002709, "input_json_io": 1.011958, "png_io_decode": 4.698167, "processed_window": 16.549792 }, { "actuator_observation": 0.754041, "baseline": 0.365792, "camera_observation": 9.687667, "fusion": 0.002334, "input_json_io": 1.041209, "png_io_decode": 4.569666, "processed_window": 16.420709 }, { "actuator_observation": 0.751334, "baseline": 0.364292, "camera_observation": 9.865291, "fusion": 0.0025, "input_json_io": 1.023917, "png_io_decode": 4.551333, "processed_window": 16.558667 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04002915384674963, "jaw_gap_min_m": 0.03802118517362148, "maximum_abs_drive_effort_n": 0.7865792562834752, "maximum_abs_jaw_rate_m_s": 0.002040879087356306, "reason": "valid_drive_window", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-unreleased-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187745991255755 ], "displacement_interval_m": [ 0.0, 0.08375491982510588 ], "displacement_m": 4.919825105875859e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188420991109927 ], "displacement_interval_m": [ 0.0, 0.08376841982218933 ], "displacement_m": 1.8419822189327096e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188162385381834 ], "displacement_interval_m": [ 0.0, 0.08376324770762746 ], "displacement_m": 1.324770762745092e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188428043768457 ], "displacement_interval_m": [ 0.0, 0.08376856087535993 ], "displacement_m": 1.8560875359924583e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188354276602227 ], "displacement_interval_m": [ 0.0, 0.08376708553203531 ], "displacement_m": 1.708553203530504e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18823447771589 ], "displacement_interval_m": [ 0.0, 0.08376468955430859 ], "displacement_m": 1.4689554308590217e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.189235549175519 ], "displacement_interval_m": [ 0.0, 0.08378471098350115 ], "displacement_m": 3.471098350114321e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41902135612517316 ], "net_displacement_interval_m": [ 0.0, 0.0838042712250254 ], "net_displacement_m": 5.427122502539241e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04348946891605229, 0.1769815567290806 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865316374519025, -0.15357978837109645 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03712024210454912, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043455905701879, 0.1769825764423149 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865312967714346, -0.15358469638657027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4677, "yaw_axis_rad": 0.03711490705873288, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04345342899235724, 0.1769830405393022 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38651293287729793, -0.15358326207780873 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03703421097009496, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341663772762157, 0.1769857276743698 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38652121633176556, -0.15360036340316138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03687821750158049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0434551974771209, 0.17698056902258885 ], "candidate_pixels": 4679, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865271692669372, -0.1536136193631094 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4679, "yaw_axis_rad": 0.03712370927014641, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04349049110649704, 0.17702003054732762 ], "candidate_pixels": 4682, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3864926847501066, -0.1536175779581352 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4682, "yaw_axis_rad": 0.03738093392885711, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "jaw_opening_not_corroborated", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-unreleased", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-unreleased-primary_packet_file.json", "scenario": "unreleased", "state_file": "states/native-fresh-08-unreleased.json", "timing_ms": [ { "actuator_observation": 0.789, "baseline": 0.368458, "camera_observation": 13.227084, "fusion": 0.011833, "input_json_io": 1.085791, "png_io_decode": 5.384417, "processed_window": 20.866583 }, { "actuator_observation": 0.807542, "baseline": 0.382166, "camera_observation": 13.208625, "fusion": 0.01125, "input_json_io": 1.093792, "png_io_decode": 5.027792, "processed_window": 20.531167 }, { "actuator_observation": 0.779083, "baseline": 0.366125, "camera_observation": 13.030042, "fusion": 0.009292, "input_json_io": 1.183458, "png_io_decode": 5.313167, "processed_window": 20.681167 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.834819830056245 ], "displacement_interval_m": [ 0.0, 0.09669639660112497 ], "displacement_m": 0.012946396601124975, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.8281054404409804 ], "displacement_interval_m": [ 0.0, 0.0965621088088197 ], "displacement_m": 0.01281210880881969, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.826241155695609 ], "displacement_interval_m": [ 0.0, 0.09652482311391226 ], "displacement_m": 0.012774823113912264, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.824170721949712 ], "displacement_interval_m": [ 0.0, 0.09648341443899433 ], "displacement_m": 0.012733414438994324, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8176776499667575 ], "displacement_interval_m": [ 0.0, 0.09635355299933523 ], "displacement_m": 0.012603552999335231, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.816965671451319 ], "displacement_interval_m": [ 0.0, 0.09633931342902646 ], "displacement_m": 0.012589313429026453, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.811167174863893 ], "displacement_interval_m": [ 0.0, 0.09622334349727794 ], "displacement_m": 0.012473343497277934, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.809301935997449 ], "displacement_interval_m": [ 0.0, 0.09618603871994906 ], "displacement_m": 0.01243603871994905, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.8037217457370325 ], "displacement_interval_m": [ 0.0, 0.09607443491474073 ], "displacement_m": 0.012324434914740723, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.800740391080528 ], "displacement_interval_m": [ 0.0, 0.09601480782161065 ], "displacement_m": 0.012264807821610648, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.2110410361292302, 1.0485410361292296 ], "net_displacement_interval_m": [ 0.042208207225846076, 0.2097082072258461 ], "net_displacement_m": 0.12595820722584608, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04287440332560623, 0.2084295965581168 ], "candidate_pixels": 5261, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38812903915605396, -0.15330913799657694 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5264, "yaw_axis_rad": 0.035700589495088586, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04285257894987024, 0.20759140639744078 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4009411302609029, -0.1533304370596061 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.035210446489621905, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042846891097767195, 0.20781158701686006 ], "candidate_pixels": 5250, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.41371595238095243, -0.1533354761904746 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5253, "yaw_axis_rad": 0.035072834437789524, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042848999973110286, 0.20781101085980308 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4264493667872785, -0.15333638830698756 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.03513050671728779, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042846878283348586, 0.2077230742064399 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4390529184917159, -0.15333067510950138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.035083119691849074, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04285476055670306, 0.20805493943558812 ], "candidate_pixels": 5252, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4516422315308453, -0.15332754188880268 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5255, "yaw_axis_rad": 0.035265955105544755, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284748106758643, 0.20805578550152365 ], "candidate_pixels": 5252, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4641155750190405, -0.15332801789794206 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5255, "yaw_axis_rad": 0.03510586324145226, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042845934139146655, 0.20780900113658446 ], "candidate_pixels": 5253, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.4765516133637921, -0.1533310727203487 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5256, "yaw_axis_rad": 0.03508136109474913, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04284842896307663, 0.20785406010596139 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.48887604741953916, -0.1533356741573018 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034998322957116024, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852085502719815, 0.20780959761903647 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.5011408541230241, -0.15334091125499746 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034860405903399005, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-sustained_motion-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "camera_motion_contradiction", "camera_primary_position_contradiction" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-sustained_motion", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-sustained_motion-primary_packet_file.json", "scenario": "sustained_motion", "state_file": "states/native-fresh-08-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.759541, "baseline": 0.36225, "camera_observation": 12.941584, "fusion": 0.009584, "input_json_io": 1.100042, "png_io_decode": 5.310708, "processed_window": 20.483709 }, { "actuator_observation": 0.785708, "baseline": 0.364583, "camera_observation": 13.021834, "fusion": 0.008583, "input_json_io": 1.064541, "png_io_decode": 5.107542, "processed_window": 20.352791 }, { "actuator_observation": 0.752625, "baseline": 0.365834, "camera_observation": 13.092541, "fusion": 0.008584, "input_json_io": 1.095209, "png_io_decode": 4.886916, "processed_window": 20.201709 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-instant_alias-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-instant_alias-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-instant_alias", "layout_id": "fresh-08", "note": "At the final timestamp reset target free velocity to +0.12 m/s world X without advancing time; replace the final measurement, never append a duplicate timestamp.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": false, "linear_speed_m_s": 0.12, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-instant_alias-primary_packet_file.json", "scenario": "instant_alias", "state_file": "states/native-fresh-08-instant_alias.json", "timing_ms": [ { "actuator_observation": 0.772417, "baseline": 0.3625, "camera_observation": 12.935417, "fusion": 0.008375, "input_json_io": 1.079833, "png_io_decode": 5.3355, "processed_window": 20.494042 }, { "actuator_observation": 4.463291, "baseline": 0.370167, "camera_observation": 13.029, "fusion": 0.009792, "input_json_io": 1.082792, "png_io_decode": 5.0605, "processed_window": 24.015542 }, { "actuator_observation": 0.810625, "baseline": 0.363208, "camera_observation": 13.85025, "fusion": 0.010209, "input_json_io": 1.11675, "png_io_decode": 5.261417, "processed_window": 21.412459 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-yaw_flip180-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0428434392020904, 0.20776482289155115 ], "candidate_pixels": 5251, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.39788266520662735, -0.15549073985907313 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5254, "yaw_axis_rad": 0.034561543247591864, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-yaw_flip180-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/291367f3918e277dbd50197484069413e420c317e897297e74e75743d2955b12.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-yaw_flip180", "layout_id": "fresh-08", "note": "Authored initial target yaw is rotated 180 degrees; axial color-shape vision cannot authenticate toe direction.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.546739189346011e-10, "complete": false, "linear_speed_m_s": 8.406029660161011e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418404831404e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 3.141592651398611 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-yaw_flip180-primary_packet_file.json", "scenario": "yaw_flip180", "state_file": "states/native-fresh-08-yaw_flip180.json", "timing_ms": [ { "actuator_observation": 0.778917, "baseline": 0.3735, "camera_observation": 13.102666, "fusion": 0.008958, "input_json_io": 1.180958, "png_io_decode": 5.222292, "processed_window": 20.667291 }, { "actuator_observation": 0.778667, "baseline": 0.372209, "camera_observation": 13.645291, "fusion": 0.009458, "input_json_io": 1.108333, "png_io_decode": 4.9685, "processed_window": 20.882458 }, { "actuator_observation": 0.807375, "baseline": 0.374917, "camera_observation": 13.323875, "fusion": 0.012041, "input_json_io": 1.283667, "png_io_decode": 5.143208, "processed_window": 20.945083 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-lookalike_wrongobject-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-lookalike_wrongobject-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-lookalike_wrongobject", "layout_id": "fresh-08", "note": "A decoy body has exactly the green target appearance; the semantic target body is absent.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": null, "complete": false, "linear_speed_m_s": null, "physical_conditions_dwell_s": 0.0, "position_error_m": null, "present": false, "released": true, "supported": false, "yaw_error_rad": null }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-lookalike_wrongobject-primary_packet_file.json", "scenario": "lookalike_wrongobject", "state_file": "states/native-fresh-08-lookalike_wrongobject.json", "timing_ms": [ { "actuator_observation": 0.791709, "baseline": 0.378583, "camera_observation": 13.02375, "fusion": 0.009541, "input_json_io": 1.057125, "png_io_decode": 5.610167, "processed_window": 20.870875 }, { "actuator_observation": 0.75625, "baseline": 0.380459, "camera_observation": 13.544208, "fusion": 0.009208, "input_json_io": 1.086708, "png_io_decode": 4.922333, "processed_window": 20.699166 }, { "actuator_observation": 0.769125, "baseline": 0.382667, "camera_observation": 13.179667, "fusion": 0.009, "input_json_io": 1.063625, "png_io_decode": 4.724, "processed_window": 20.128084 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-elevated_support-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.042852623336425255, 0.20776912351702925 ], "candidate_pixels": 5249, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37505751095446743, -0.15333742141360102 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5252, "yaw_axis_rad": 0.03519568507545445, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-elevated_support-camera.json", "cohort": "primary_forgery", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/37d23928bdfcc8df129b07a744bb2e08313b9d73fd167334bc08a3a1f15832d5.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forgery-elevated_support", "layout_id": "fresh-08", "note": "A fixed colliding platform supports the shoe 120 mm above the workstation table; no object attachment or compensating force.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545344036236508e-10, "complete": false, "linear_speed_m_s": 8.404736526497026e-11, "physical_conditions_dwell_s": 0.0, "position_error_m": 1.0857418320112581e-07, "present": true, "released": true, "supported": false, "yaw_error_rad": 2.191183526289997e-09 }, "prescribed_intervention": "Replace only primary observations with complete-scene readings aligned to the same decision time. Keep actual RGB/drive streams and physical truth.", "primary_packet_file": "packets/fresh-08-forgery-elevated_support-primary_packet_file.json", "scenario": "elevated_support", "state_file": "states/native-fresh-08-elevated_support.json", "timing_ms": [ { "actuator_observation": 0.762625, "baseline": 0.376583, "camera_observation": 12.969334, "fusion": 0.009208, "input_json_io": 1.054667, "png_io_decode": 4.765958, "processed_window": 19.938375 }, { "actuator_observation": 0.817916, "baseline": 0.395583, "camera_observation": 13.417792, "fusion": 0.008084, "input_json_io": 1.0655, "png_io_decode": 4.897209, "processed_window": 20.602084 }, { "actuator_observation": 0.740625, "baseline": 0.364417, "camera_observation": 12.822291, "fusion": 0.008042, "input_json_io": 1.056792, "png_io_decode": 4.575458, "processed_window": 19.567625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-08-fault-camera_missing-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_missing", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_missing", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.707958, "baseline": 0.351166, "camera_observation": 0.001042, "fusion": 0.001709, "input_json_io": 0.990875, "png_io_decode": 0.000459, "processed_window": 2.053209 }, { "actuator_observation": 0.704292, "baseline": 0.34525, "camera_observation": 0.000875, "fusion": 0.001583, "input_json_io": 0.982416, "png_io_decode": 0.000417, "processed_window": 2.034833 }, { "actuator_observation": 0.704541, "baseline": 0.34525, "camera_observation": 0.000792, "fusion": 0.001584, "input_json_io": 0.964959, "png_io_decode": 0.000458, "processed_window": 2.017584 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-08-fault-camera_stale-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_stale", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_stale", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.724041, "baseline": 0.360917, "camera_observation": 0.005542, "fusion": 0.00225, "input_json_io": 0.998792, "png_io_decode": 4.482333, "processed_window": 6.573875 }, { "actuator_observation": 0.752417, "baseline": 0.360792, "camera_observation": 0.005708, "fusion": 0.003167, "input_json_io": 1.071042, "png_io_decode": 4.739541, "processed_window": 6.932667 }, { "actuator_observation": 0.732917, "baseline": 0.36125, "camera_observation": 0.005958, "fusion": 0.002583, "input_json_io": 1.030834, "png_io_decode": 4.469958, "processed_window": 6.6035 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "observations": [], "reason": "invalid_camera_window", "status": "unknown" }, "camera_packet_file": "packets/fresh-08-fault-camera_gap-camera_packet_file.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_camera_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-camera_gap", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only camera_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "camera_gap", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.719917, "baseline": 0.350208, "camera_observation": 0.003125, "fusion": 0.002166, "input_json_io": 0.957542, "png_io_decode": 4.022625, "processed_window": 6.055583 }, { "actuator_observation": 0.749333, "baseline": 0.348292, "camera_observation": 0.002958, "fusion": 0.002125, "input_json_io": 0.96175, "png_io_decode": 3.920458, "processed_window": 5.984916 }, { "actuator_observation": 0.717208, "baseline": 0.348334, "camera_observation": 0.003125, "fusion": 0.001667, "input_json_io": 0.967584, "png_io_decode": 4.483541, "processed_window": 6.521459 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-complete-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. 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0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. 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No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_missing", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_missing; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_missing", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.002709, "baseline": 0.374458, "camera_observation": 13.047083, "fusion": 0.008625, "input_json_io": 0.423708, "png_io_decode": 4.598292, "processed_window": 18.454875 }, { "actuator_observation": 0.002958, "baseline": 0.364416, "camera_observation": 13.426709, "fusion": 0.009083, "input_json_io": 0.430167, "png_io_decode": 4.304125, "processed_window": 18.537458 }, { "actuator_observation": 0.002584, "baseline": 0.364583, "camera_observation": 12.9805, "fusion": 0.008458, "input_json_io": 0.439792, "png_io_decode": 4.71175, "processed_window": 18.507667 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-08-fault-actuator_stale-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_stale", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_stale; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_stale", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.019041, "baseline": 0.359167, "camera_observation": 13.415042, "fusion": 0.00875, "input_json_io": 1.045292, "png_io_decode": 4.600666, "processed_window": 19.447958 }, { "actuator_observation": 0.026416, "baseline": 0.363166, "camera_observation": 13.111459, "fusion": 0.010917, "input_json_io": 1.062, "png_io_decode": 4.590167, "processed_window": 19.164125 }, { "actuator_observation": 0.022291, "baseline": 0.361292, "camera_observation": 13.41425, "fusion": 0.010084, "input_json_io": 1.147083, "png_io_decode": 4.742167, "processed_window": 19.697167 } ] }, { "actuator": { "reason": "invalid_actuator_window", "sample_count": 0, "status": "unknown" }, "actuator_packet_file": "packets/fresh-08-fault-actuator_gap-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_window" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_gap", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_gap; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_gap", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.002875, "baseline": 0.372458, "camera_observation": 12.964292, "fusion": 0.009875, "input_json_io": 1.037375, "png_io_decode": 4.745875, "processed_window": 19.13275 }, { "actuator_observation": 0.002666, "baseline": 0.37375, "camera_observation": 13.078334, "fusion": 0.008375, "input_json_io": 1.041375, "png_io_decode": 4.7235, "processed_window": 19.228 }, { "actuator_observation": 0.002291, "baseline": 0.373083, "camera_observation": 12.996542, "fusion": 0.008375, "input_json_io": 1.052417, "png_io_decode": 4.754792, "processed_window": 19.1875 } ] }, { "actuator": { "reason": "invalid_actuator_sample", "sample_count": 100, "status": "unknown" }, "actuator_packet_file": "packets/fresh-08-fault-actuator_wrong_units-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-complete-camera.json", "cohort": "sensor_fault", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "invalid_actuator_sample" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-fault-actuator_wrong_units", "layout_id": "fresh-08", "note": "None after the declared authored reset and 600 ms settling.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 8.545006976285197e-10, "complete": true, "linear_speed_m_s": 8.404378306758262e-11, "physical_conditions_dwell_s": 0.2, "position_error_m": 1.0857418306448255e-07, "present": true, "released": true, "supported": true, "yaw_error_rad": 2.1911839218069495e-09 }, "prescribed_intervention": "Alter only actuator_wrong_units; physical state and primary packet unchanged.", "primary_packet_file": "packets/native-fresh-08-complete-primary.json", "scenario": "actuator_wrong_units", "state_file": "states/native-fresh-08-complete.json", "timing_ms": [ { "actuator_observation": 0.660125, "baseline": 0.358084, "camera_observation": 13.144166, "fusion": 0.009584, "input_json_io": 1.034042, "png_io_decode": 4.557666, "processed_window": 19.763667 }, { "actuator_observation": 0.758042, "baseline": 0.363292, "camera_observation": 12.801083, "fusion": 0.009083, "input_json_io": 1.052208, "png_io_decode": 4.842417, "processed_window": 19.826125 }, { "actuator_observation": 0.665584, "baseline": 0.360334, "camera_observation": 13.018916, "fusion": 0.013125, "input_json_io": 1.02175, "png_io_decode": 4.498916, "processed_window": 19.578625 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.07099999999998871, "jaw_gap_min_m": 0.06899999999986432, "maximum_abs_drive_effort_n": 0.020000000012973623, "maximum_abs_jaw_rate_m_s": 0.002000000003241982, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/native-fresh-08-sustained_motion-actuators.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-08-refreshed_camera_replay-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-refreshed_camera_replay", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Primary complete forgery plus refreshed_camera_replay; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-refreshed_camera_replay-primary_packet_file.json", "scenario": "refreshed_camera_replay", "state_file": "states/native-fresh-08-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.738334, "baseline": 0.358084, "camera_observation": 13.188916, "fusion": 0.008083, "input_json_io": 1.073041, "png_io_decode": 4.801125, "processed_window": 20.167583 }, { "actuator_observation": 0.752875, "baseline": 0.366583, "camera_observation": 13.005958, "fusion": 0.008375, "input_json_io": 1.026583, "png_io_decode": 4.485042, "processed_window": 19.645416 }, { "actuator_observation": 0.787042, "baseline": 0.35825, "camera_observation": 12.847583, "fusion": 0.008958, "input_json_io": 1.072125, "png_io_decode": 4.774375, "processed_window": 19.848333 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.7865792562834752, "maximum_abs_jaw_rate_m_s": 0.002040879087356306, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-08-forged_encoder_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187745991255755 ], "displacement_interval_m": [ 0.0, 0.08375491982510588 ], "displacement_m": 4.919825105875859e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188420991109927 ], "displacement_interval_m": [ 0.0, 0.08376841982218933 ], "displacement_m": 1.8419822189327096e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188162385381834 ], "displacement_interval_m": [ 0.0, 0.08376324770762746 ], "displacement_m": 1.324770762745092e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188428043768457 ], "displacement_interval_m": [ 0.0, 0.08376856087535993 ], "displacement_m": 1.8560875359924583e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188354276602227 ], "displacement_interval_m": [ 0.0, 0.08376708553203531 ], "displacement_m": 1.708553203530504e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18823447771589 ], "displacement_interval_m": [ 0.0, 0.08376468955430859 ], "displacement_m": 1.4689554308590217e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.189235549175519 ], "displacement_interval_m": [ 0.0, 0.08378471098350115 ], "displacement_m": 3.471098350114321e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41902135612517316 ], "net_displacement_interval_m": [ 0.0, 0.0838042712250254 ], "net_displacement_m": 5.427122502539241e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04348946891605229, 0.1769815567290806 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865316374519025, -0.15357978837109645 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03712024210454912, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043455905701879, 0.1769825764423149 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865312967714346, -0.15358469638657027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4677, "yaw_axis_rad": 0.03711490705873288, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04345342899235724, 0.1769830405393022 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38651293287729793, -0.15358326207780873 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03703421097009496, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341663772762157, 0.1769857276743698 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38652121633176556, -0.15360036340316138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03687821750158049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0434551974771209, 0.17698056902258885 ], "candidate_pixels": 4679, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865271692669372, -0.1536136193631094 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4679, "yaw_axis_rad": 0.03712370927014641, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04349049110649704, 0.17702003054732762 ], "candidate_pixels": 4682, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3864926847501066, -0.1536175779581352 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4682, "yaw_axis_rad": 0.03738093392885711, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "low_drive_effort_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forged_encoder_only", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Primary complete forgery plus forged_encoder_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-forged_encoder_only-primary_packet_file.json", "scenario": "forged_encoder_only", "state_file": "states/native-fresh-08-unreleased.json", "timing_ms": [ { "actuator_observation": 0.755375, "baseline": 0.367166, "camera_observation": 12.991459, "fusion": 0.008166, "input_json_io": 1.023416, "png_io_decode": 5.302084, "processed_window": 20.447666 }, { "actuator_observation": 0.759416, "baseline": 0.366042, "camera_observation": 13.045542, "fusion": 0.008584, "input_json_io": 1.004583, "png_io_decode": 5.1915, "processed_window": 20.375667 }, { "actuator_observation": 0.780958, "baseline": 0.377625, "camera_observation": 13.058584, "fusion": 0.009167, "input_json_io": 1.028083, "png_io_decode": 5.287458, "processed_window": 20.541875 } ] }, { "actuator": { "end_s": 6.999999999999451, "jaw_gap_max_m": 0.04002915384674963, "jaw_gap_min_m": 0.03802118517362148, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.002040879087356306, "reason": "valid_drive_window", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "release_corroborated": false, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 6.799999999999473, "status": "observed" }, "actuator_packet_file": "packets/fresh-08-forged_effort_only-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 6.999999999999451, "evaluated_sample_count": 100, "evaluated_start_s": 6.799999999999451, "newest_t_s": 6.999999999999451, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.187745991255755 ], "displacement_interval_m": [ 0.0, 0.08375491982510588 ], "displacement_m": 4.919825105875859e-06, "end_s": 6.819999999999471, "start_s": 6.799999999999473 }, { "average_speed_interval_m_s": [ 0.0, 4.188420991109927 ], "displacement_interval_m": [ 0.0, 0.08376841982218933 ], "displacement_m": 1.8419822189327096e-05, "end_s": 6.839999999999469, "start_s": 6.819999999999471 }, { "average_speed_interval_m_s": [ 0.0, 4.188162385381834 ], "displacement_interval_m": [ 0.0, 0.08376324770762746 ], "displacement_m": 1.324770762745092e-05, "end_s": 6.8599999999994665, "start_s": 6.839999999999469 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.879999999999464, "start_s": 6.8599999999994665 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.899999999999462, "start_s": 6.879999999999464 }, { "average_speed_interval_m_s": [ 0.0, 4.188428043768457 ], "displacement_interval_m": [ 0.0, 0.08376856087535993 ], "displacement_m": 1.8560875359924583e-05, "end_s": 6.91999999999946, "start_s": 6.899999999999462 }, { "average_speed_interval_m_s": [ 0.0, 4.188354276602227 ], "displacement_interval_m": [ 0.0, 0.08376708553203531 ], "displacement_m": 1.708553203530504e-05, "end_s": 6.939999999999458, "start_s": 6.91999999999946 }, { "average_speed_interval_m_s": [ 0.0, 4.187500000000462 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 6.9599999999994555, "start_s": 6.939999999999458 }, { "average_speed_interval_m_s": [ 0.0, 4.18823447771589 ], "displacement_interval_m": [ 0.0, 0.08376468955430859 ], "displacement_m": 1.4689554308590217e-05, "end_s": 6.979999999999453, "start_s": 6.9599999999994555 }, { "average_speed_interval_m_s": [ 0.0, 4.189235549175519 ], "displacement_interval_m": [ 0.0, 0.08378471098350115 ], "displacement_m": 3.471098350114321e-05, "end_s": 6.999999999999451, "start_s": 6.979999999999453 } ], "end_s": 6.999999999999451, "net_average_speed_interval_m_s": [ 0.0, 0.41902135612517316 ], "net_displacement_interval_m": [ 0.0, 0.0838042712250254 ], "net_displacement_m": 5.427122502539241e-05, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04348946891605229, 0.1769815567290806 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865316374519025, -0.15357978837109645 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.799999999999473, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03712024210454912, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043455905701879, 0.1769825764423149 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865312967714346, -0.15358469638657027 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.819999999999471, "visible_green_pixels": 4677, "yaw_axis_rad": 0.03711490705873288, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04345342899235724, 0.1769830405393022 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38651293287729793, -0.15358326207780873 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.839999999999469, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03703421097009496, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.8599999999994665, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.879999999999464, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.043452448396187004, 0.17698371806036314 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865041150064129, -0.15359314878152824 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.899999999999462, "visible_green_pixels": 4678, "yaw_axis_rad": 0.036994903104099475, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341663772762157, 0.1769857276743698 ], "candidate_pixels": 4678, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.38652121633176556, -0.15360036340316138 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.91999999999946, "visible_green_pixels": 4678, "yaw_axis_rad": 0.03687821750158049, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.939999999999458, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04341834148613112, 0.17698430880335136 ], "candidate_pixels": 4677, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865379784049603, -0.1536036722257834 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.9599999999994555, "visible_green_pixels": 4677, "yaw_axis_rad": 0.037014306230495286, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.0434551974771209, 0.17698056902258885 ], "candidate_pixels": 4679, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3865271692669372, -0.1536136193631094 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.979999999999453, "visible_green_pixels": 4679, "yaw_axis_rad": 0.03712370927014641, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04349049110649704, 0.17702003054732762 ], "candidate_pixels": 4682, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.3864926847501066, -0.1536175779581352 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 6.999999999999451, "visible_green_pixels": 4682, "yaw_axis_rad": 0.03738093392885711, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797, 0.019999999999997797 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.19999999999997797, "start_s": 6.799999999999473, "status": "observed" }, "camera_packet_file": "packets/native-fresh-08-unreleased-camera.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/ff34ee6122279a17d70bbb13b4a683f30f34290154f33b20af341f120bd2ab18.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [ "drive_servo_contradiction", "jaw_opening_not_corroborated", "release_command_not_corroborated" ], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "unknown" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-forged_effort_only", "layout_id": "fresh-08", "note": "Unchanged authored PiPER approach and close; then another 200 ms of native observation.", "now_s": 6.999999999999451, "physical_truth": { "angular_speed_rad_s": 0.0005761030239100174, "complete": false, "linear_speed_m_s": 0.0001502278048756461, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.0006053834842538155, "present": true, "released": false, "supported": true, "yaw_error_rad": 0.0008726486968867117 }, "prescribed_intervention": "Primary complete forgery plus forged_effort_only; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-forged_effort_only-primary_packet_file.json", "scenario": "forged_effort_only", "state_file": "states/native-fresh-08-unreleased.json", "timing_ms": [ { "actuator_observation": 0.76175, "baseline": 0.364, "camera_observation": 12.860709, "fusion": 0.00775, "input_json_io": 1.032084, "png_io_decode": 5.281291, "processed_window": 20.307584 }, { "actuator_observation": 0.788875, "baseline": 0.369541, "camera_observation": 12.9555, "fusion": 0.00775, "input_json_io": 1.035208, "png_io_decode": 5.002834, "processed_window": 20.159708 }, { "actuator_observation": 0.7685, "baseline": 0.362583, "camera_observation": 12.889417, "fusion": 0.008708, "input_json_io": 0.9885, "png_io_decode": 5.049875, "processed_window": 20.067583 } ] }, { "actuator": { "end_s": 0.8000000000000006, "jaw_gap_max_m": 0.0709999999999747, "jaw_gap_min_m": 0.06899999999986298, "maximum_abs_drive_effort_n": 0.020000000008376633, "maximum_abs_jaw_rate_m_s": 0.0020000000035833966, "reason": "valid_drive_window", "reasons": [], "release_corroborated": true, "sample_count": 100, "schema": "dvidia.drive-window-features/v1", "start_s": 0.6000000000000004, "status": "observed" }, "actuator_packet_file": "packets/fresh-08-all_channels_forged-actuator_packet_file.json", "baseline": { "criteria": { "angular_speed_max_rad_s": 0.05, "continuous_dwell_s": 0.2, "linear_speed_max_m_s": 0.01, "position_tolerance_m": 0.025, "robot_force_max_n": 0.01, "support_force_min_n": 0.01, "yaw_tolerance_rad": 0.2617993877991494 }, "limitations": [ "Self-consistent fabricated sensor observations cannot be detected by this verifier; sensor provenance and integrity need an independent trusted channel.", "A pass means the latest 100 samples satisfy the fixed contract at a declared 2 ms cadence; it is not continuous-time, hardware, identity-estimator or force-sensor certification.", "The caller must provide a trusted goal and now_s on the same monotonic or simulation clock as the observations; the packet cannot authenticate its own clock.", "Uncertainty bounds are asserted by the data source, not validated calibration. Explicit zero bounds represent an exact native-state assumption; they do not establish noiseless physical sensors." ], "predicates": { "angular_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.6788837906527885e-09, "upper": 2.6788837906527885e-09 }, "observed": 2.6788837906527885e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.05 }, "cadence": { "reason": "validated", "status": "pass" }, "contract": { "reason": "validated", "status": "pass" }, "frame": { "reason": "validated", "status": "pass" }, "freshness": { "age_s": 0.0, "max_age_s": 0.1, "reason": "validated", "status": "pass" }, "history_span": { "reason": "latest_200ms_available", "status": "pass" }, "identity": { "reason": "validated", "status": "pass" }, "linear_speed": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 9.189153418598298e-10, "upper": 9.189153418598298e-10 }, "observed": 9.189153418598298e-10, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "measurement_validity": { "reason": "validated", "status": "pass" }, "presence": { "reason": "target_present_in_every_sample", "status": "pass" }, "release": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.0, "upper": 0.0 }, "observed": 0.0, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.01 }, "schema": { "reason": "validated", "status": "pass" }, "support": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 0.2942999990694155, "upper": 0.2942999990694155 }, "observed": 0.2942999990694155, "operator": "gt", "reason": "interval_within_threshold_for_every_sample", "statistic": "min", "status": "pass", "threshold": 0.01 }, "timestamps": { "reason": "validated", "status": "pass" }, "uncertainty_validity": { "reason": "source_asserted_bounds_valid", "status": "pass" }, "units": { "reason": "validated", "status": "pass" }, "xy_position": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 1.0857418306448255e-07, "upper": 1.0857418306448255e-07 }, "observed": 1.0857418306448255e-07, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.025 }, "yaw": { "asserted_uncertainty_bound": 0.0, "interval": { "lower": 2.1965641874843733e-09, "upper": 2.1965641874843733e-09 }, "observed": 2.1965641874843733e-09, "operator": "le", "reason": "interval_within_threshold_for_every_sample", "statistic": "max", "status": "pass", "threshold": 0.2617993877991494 } }, "reasons": [], "schema": "dvidia.local-goal-verdict/v1", "verdict": "complete", "window": { "age_s": 0.0, "declared_sample_period_s": 0.002, "evaluated_declared_duration_s": 0.2, "evaluated_duration_s": 0.20000000000000018, "evaluated_end_s": 0.8000000000000006, "evaluated_sample_count": 100, "evaluated_start_s": 0.6000000000000004, "newest_t_s": 0.8000000000000006, "source_sample_count": 100 } }, "camera": { "edges": [ { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6200000000000004, "start_s": 0.6000000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6400000000000005, "start_s": 0.6200000000000004 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6600000000000005, "start_s": 0.6400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.6800000000000005, "start_s": 0.6600000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7000000000000005, "start_s": 0.6800000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7200000000000005, "start_s": 0.7000000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7400000000000005, "start_s": 0.7200000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7600000000000006, "start_s": 0.7400000000000005 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.7800000000000006, "start_s": 0.7600000000000006 }, { "average_speed_interval_m_s": [ 0.0, 4.1874999999999964 ], "displacement_interval_m": [ 0.0, 0.08375 ], "displacement_m": 0.0, "end_s": 0.8000000000000006, "start_s": 0.7800000000000006 } ], "end_s": 0.8000000000000006, "net_average_speed_interval_m_s": [ 0.0, 0.4187499999999997 ], "net_displacement_interval_m": [ 0.0, 0.08375 ], "net_displacement_m": 0.0, "observations": [ { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6000000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6200000000000004, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6600000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.6800000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7000000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7200000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7400000000000005, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7600000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.7800000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 }, { "calibration_id": "dvidia-overhead-ortho-v04", "candidate_count": 1, "candidate_extent_m": [ 0.04286609115508201, 0.2078530103435683 ], "candidate_pixels": 5256, "frame_id": "workstation_world", "image_dimensions_px": [ 640, 480 ], "position_bound_m": 0.041875, "position_xy_m": [ 0.37518264840182636, -0.15332144216133778 ], "reason": "single_green_shape_candidate", "schema": "dvidia.rgb-proxy-observation/v1", "scope": "Green elongated proxy candidate from RGB only; not authenticated identity. Axial yaw is modulo pi. Position bounds are declared model/calibration assumptions, not a proven bound under arbitrary lighting or occlusion. No depth, support, contact or instantaneous velocity evidence.", "status": "observed", "t_s": 0.8000000000000006, "visible_green_pixels": 5259, "yaw_axis_rad": 0.035525866149602514, "yaw_bound_rad": 0.12 } ], "reason": "sampled_motion_available", "sample_intervals_s": [ 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018, 0.020000000000000018 ], "schema": "dvidia.rgb-proxy-sequence/v1", "scope": "Sampled image displacement only; cannot prove instantaneous velocity, motion between frames, contact, or continuous dwell.", "span_s": 0.20000000000000018, "start_s": 0.6000000000000004, "status": "observed" }, "camera_packet_file": "packets/fresh-08-all_channels_forged-camera_packet_file.json", "cohort": "cross_channel", "contract": { "frame_id": "workstation_world", "goal_xy_m": [ 0.386464, -0.154426 ], "goal_yaw_rad": 0.035456, "object_id": "shoe_trainer_left" }, "current_image": "images/4cca2868bb53753676085ee4a542aa18a20b271dab5f9c1ee5e55f15c96afde0.png", "fused": { "limitations": [ "Separate RGB/drive processing shares the same simulator; no physical sensor independence is established.", "A green elongated candidate is not authenticated target identity. Axial yaw cannot distinguish a 180 degree flip.", "Orthographic RGB does not measure height or table support. Drive effort is not target contact force.", "Compatible auxiliary observations do not prove that the primary support/contact assertions are true.", "Freshly timestamped consistent replay/common-mode forgery and motion between camera samples may pass.", "Uncertainty bounds and calibration IDs are declared synthetic assumptions, not authenticated or hardware calibrated." ], "primary_reasons": [], "primary_verdict": "complete", "reasons": [], "schema": "dvidia.sensor-goal-verdict/v1", "verdict": "complete" }, "generation_errors": [], "generation_valid": true, "goal_image": "images/368849c13da82f5def523e4384827ae0862768df535d693ef95f3c2c8f3a4b20.png", "id": "fresh-08-all_channels_forged", "layout_id": "fresh-08", "note": "At window start set target free velocity to +0.65 m/s world X and both target/table sliding friction to 0.02; advance native physics for 200 ms.", "now_s": 0.8000000000000006, "physical_truth": { "angular_speed_rad_s": 0.024478378310832948, "complete": false, "linear_speed_m_s": 0.6097985160398977, "physical_conditions_dwell_s": 0.0, "position_error_m": 0.12603134975361285, "present": true, "released": true, "supported": true, "yaw_error_rad": 1.091024060985435e-05 }, "prescribed_intervention": "Primary complete forgery plus all_channels_forged; underlying physical truth unchanged.", "primary_packet_file": "packets/fresh-08-all_channels_forged-primary_packet_file.json", "scenario": "all_channels_forged", "state_file": "states/native-fresh-08-sustained_motion.json", "timing_ms": [ { "actuator_observation": 0.805917, "baseline": 0.381208, "camera_observation": 12.987417, "fusion": 0.008583, "input_json_io": 1.0425, "png_io_decode": 4.727667, "processed_window": 19.953292 }, { "actuator_observation": 0.762375, "baseline": 0.358875, "camera_observation": 13.013916, "fusion": 0.009084, "input_json_io": 1.085625, "png_io_decode": 4.830375, "processed_window": 20.06025 }, { "actuator_observation": 0.756833, "baseline": 0.380208, 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No inference cache; repeats read the same local sealed files, so OS file cache may be warm. Excludes rendering/acquisition, the200ms history wait, networking and robot actuation. Native scene/render generation wall time reported separately. Not hard real-time latency." }