{
  "schema_version": 1,
  "kind": "nonflat-story-demo",
  "session_id": "187ef67f-8e67-49cf-bc95-f813450e0b0e",
  "mode": "simulation",
  "can_verify_case": false,
  "real_case_verified": false,
  "verification_receipt_passed": true,
  "registered_route_crossed": true,
  "simulation_case_verified": true,
  "outcome": "simulated_case_closed",
  "scene_profile": {
    "bounds": [
      -3.0,
      9.0,
      -4.2,
      5.8
    ],
    "fn_filename": "nonflat-story-fn.json",
    "hold_prefix": "nonflat-leg-",
    "jev_filename": "nonflat-story-jev.json",
    "module_name": "nonflat_story_scene",
    "profile_sha256": "18fbf10ffa478e53d02040c6f0243dadf393e7cefc39deed44b2145af1814084",
    "result_filename": "nonflat-story.json",
    "roi": {
      "x_max": 5.35,
      "x_min": 4.95,
      "y_max": 2.05,
      "y_min": 1.55
    },
    "scene_id": "industrial-nonflat-recheck-v1",
    "scene_identity": {
      "base_geometry": {
        "capture_pose": {
          "shared_standoff_for_complete_panel_framing": true,
          "xy_m": [
            6.2,
            1.8
          ],
          "yaw_rad": 3.141592653589793
        },
        "constructed_layout_not_surveyed_site": true,
        "localization": "simulation_ground_truth_for_both_robot_configurations",
        "platform": {
          "top_m": 0.36,
          "x": [
            3.2,
            7.0
          ],
          "y": [
            -0.85,
            3.4
          ]
        },
        "ramp": {
          "angle_deg": 6.418786730238785,
          "gradient": 0.11249999999999999,
          "rise_m": 0.36,
          "x": [
            0.0,
            3.2
          ],
          "y": [
            2.0,
            3.4
          ]
        },
        "revision": 2,
        "scene_id": "industrial-platform-mobility-v1",
        "stairs": {
          "count": 3,
          "riser_m": 0.12,
          "tread_m": 0.4,
          "x_start": 2.0,
          "y": [
            -0.7,
            0.7
          ]
        },
        "target": {
          "corners_world_m": [
            [
              4.86,
              1.58,
              0.61
            ],
            [
              4.86,
              2.02,
              0.61
            ],
            [
              4.86,
              2.02,
              0.99
            ],
            [
              4.86,
              1.58,
              0.99
            ]
          ],
          "does_not_diagnose_equipment": true,
          "kind": "backside_service_identification_panel_photo"
        },
        "terrain_observation": "simulation_terrain_raycast_not_real_sensor_validation"
      },
      "bounds_xy_m": [
        -3.0,
        9.0,
        -4.2,
        5.8
      ],
      "camera_axes": "world",
      "camera_mount_local_m": [
        0.32,
        0.0,
        0.1
      ],
      "camera_mount_rotation_wxyz": [
        0.9914448613738104,
        0.0,
        0.13052619222005157,
        0.0
      ],
      "camera_pitch_down_deg": 15.0,
      "carton_center_m": [
        5.15,
        1.8,
        0.56
      ],
      "carton_path": "/World/NonflatStory/MaintenanceCarton",
      "carton_size_m": [
        0.3,
        0.35,
        0.4
      ],
      "digital_twin": false,
      "floor_z_m": 0.36,
      "full_body_collision_safety_verified": false,
      "geometry_sha256": "90e6b03dfc9d65e8a34e78ae3fb9d51f1208f9c30b68bce09161b231ab196fc3",
      "human_events": "scripted_simulation_not_robot_remediation",
      "inspection_task": "platform_aisle_obstruction_recheck",
      "mode": "simulation",
      "physical_scope": "actual arrival, support, attitude, stable capture and stationary recheck; not whole-body collision certification",
      "rechecks": "fresh_stationary_B_frames_in_same_physical_session",
      "roi": {
        "x_max": 5.35,
        "x_min": 4.95,
        "y_max": 2.05,
        "y_min": 1.55
      },
      "route_surface": "three_stairs_then_platform",
      "scene_id": "industrial-nonflat-recheck-v1",
      "scene_revision": 2,
      "specialized_sensor_readings": false,
      "synthetic": true,
      "terrain_is_support_not_xy_obstacle": true,
      "units": "metres",
      "up_axis": "Z",
      "waypoints": {
        "B": [
          6.2,
          1.8,
          3.141592653589793
        ]
      }
    },
    "schema_version": 1,
    "source": "saved-nonflat-rgbd",
    "stage_prefix": "nonflat_story_",
    "waypoints": {
      "B": [
        6.2,
        1.8,
        3.141592653589793
      ]
    }
  },
  "scope": "Isaac 物理仿真；同一会话中真实推进物理时钟，Go2 经登记台阶到平台后驻点复查。人员申报与纸箱移除为仿真脚本事件，不是机器狗清障；未验证下楼、返回或重走路线。复核结论只覆盖登记区域的有限 RGB-D 采样，不代表连续全区清空、真机工业交付或行业准入。",
  "binding_notice": "本页面已核对原记录、场景身份与独立核验回执的 SHA-256 绑定，未重新运行物理核验。文件一致性不认证回执作者，也不抵御整套记录与回执被共同改写。",
  "source_sha256": {
    "summary.json": "7b5bde620c2ccbf12ff8d81a4d03c354809b5a3d66a6ee0f3f4e24ea1241c12c",
    "nonflat-story.json": "d566aeb1208721529939526ae82184de511de37e042b0b39b39044c3e2c6dbf4",
    "trajectory.jsonl": "6bd3dfaf327ce9fa5e6cf92a854cbb0d263b77e5413c8d89b16e2a5838cf2ac4",
    "camera.jsonl": "d55128ccbae0cb2748d5daab13691153c66c6de96cc4a795a41b3f345ab51b51",
    "latest.json": "e3ed04348652127b56f7197ca074a82a66b7944a87c136b62c83699b7b67447d",
    "nonflat-story-jev.json": "d170e803ac4968735a59f3bfd1a2d4a956dddeb695c3a71c71d9dcb2f7f2f9e4",
    "nonflat-story-fn.json": "771f7bbfe131d2641aebe86bb06650f9e3658e830113811d30815ccf11f913e7"
  },
  "controller_source_sha256": {
    "nonflat_story_run.py": "89bf11a35c0b9a03ec04b65d948d1986414924b61951c3f1477640f583f3e1b9",
    "nonflat_story_supervise.py": "91210ca780f0100997e493be6fe5d81cbba0687213b664cad8ff5ea16212c290",
    "nonflat_story_runtime.py": "abf57411c965f44ebe5ef443c5ecccf82f9b75a9ebb5ac9ded434143ac938877",
    "nonflat_story_scene.py": "bd7d4c78ff71c2ae0f9930e6f47baf91e4055a2997f23adc70522f493e6f31f7",
    "nonflat_story_observation.py": "3ad9c920f8bb1c762519f7150d3c02bb054123cecb9e2af4b777c5a6e008f98e",
    "nonflat_story_fn.py": "c52131a8ae676f3ca804290c30200d2e59629e3b55ff8af0bb03d01acd8d35cc",
    "verify_nonflat_story.py": "df6e109d439348706ad9c88ab0c2248a68b2d47fa337f7dbfccd98550a23853c",
    "mobility_run.py": "aded5242101ca65ce7917d4f767199e28ed87d1e79da8b55b08ba7191fd229ef",
    "mobility_policy.py": "fdc4efb30c7c94cafcc8e4386f07f478fdb7b318e62d277161157ffc0527f08d",
    "mobility_scene.py": "384bd1a6a2b43d4fc1f00f6f95b5818588657efa30d754c97bd6cdff98984a4e",
    "mobility_spec.py": "fe35e8b3e1e868be80a62576f93e231eef713db1e74ef70e1012905f92b00a66",
    "mobility_wheels.py": "bd8ea94c7f8ce92bf22315b701ba8d3a9e8d96282b77c3f2102f80d05a949bc8",
    "verify_mobility.py": "a498b34141732f72ef7cf0c31003cac0281305d8316ad61ec62eb01462fa2b8a",
    "run_sim6.py": "305e217d6df182aebab34e3b268cd548bd396cff0ee51a95239bea391d0cc74a",
    "recording.py": "4846d1803f22a6bd02518acf896a93a6b27bbfbdae1c1cb1c858eed80f7e5dd6",
    "supervise.py": "9c4e47484ae3c45368cf3915887746b493e415df6063d0de1c4d6434eacb960d",
    "sensor_clock.py": "08952a95ea5a1e4e87b117810847a93fdf3e17af864740d0b285d8995badc7da",
    "campus_scene.py": "9f1f7c4ddffc5f9fdf4c294422855a79841ac76d73c08394fe2de8e2916f6cfa",
    "frame_observation.py": "784f61156d85459527e4bc6fc1407a00b1ab842a4c602bef6f2b9a9c6ad4ce4d",
    "preview.py": "8aeed7d9f560705f53598ef929db1c1338fb2f39bb930ba00afab9ccd5f67902",
    "story_profiles.py": "67fec589c0f550f26cb666569a669d791933ef63207e70fbb1d7aaebb08bca1e",
    "library_story_jev.py": "bedda7e99af3a4292aa9ad9e3979cb42deb3bd65d0a3702f05350fb330b8f903",
    "library_story_fn.py": "b96f88a98af818e78b3fa329eb80bf67ba55df633a7dc20226676488828f174a",
    "library_story_observation.py": "99b43cbd2afe7ba9b602d031ac0f4d5ad18793ccc23ae946ad337d1ae4a1d7f7",
    "library_story_scene.py": "6e22664caf0f32476c9f5a5bfa70b0ca24384428830e880b51cb4e70ecf78b06",
    "library_story_contract.py": "cd7641782b058384ff05f66b8dd74b5383aa04290e48c5a50be88c08a05c3ae2",
    "industrial_scene.py": "edd85b7bbe0f1a037b5dbbd5da16f849053fefd12b25b73486b95e99f352d535",
    "arrival_skill.py": "3b52be14597e1047c322d63384116001783473234473971b7eafaf17604256a3",
    "bounded_curve_path.py": "1fffd49889216b36a81acb49c1d8ad7099fbe64bad6e11384e0c735859d7a298",
    "mission_case.py": "40e6203eed243fd9e8c253eb2ab3c5801a647e1700102fa355154ac3bdda5991",
    "verify_library_story.py": "8fa83d404ad1f40ddab87f646795506320a391f0208671c8a5620da417db7116",
    "verify_firelane.py": "50fe33ed92b2c0133b52e9d58bd8d52ebda83e331f5751e911b8a427e06efc5d",
    "firelane_observation.py": "d62f6d7e23f5ecda1defa378aee04fc7ebc506d9a54d8ef96d54ec9df7c389d1",
    "trustpatrol/jev_client.py": "1b66d8e3e21bcf3581dc9934150b318e5164d11fdbdf53e360f5f85119e9e2e8",
    "trustpatrol/remote_vision.py": "3636ec1d37ac6eeb9f23c1ef2b7a59c99fedfd05c8058647bd0bc9759dc3fa0f",
    "trustpatrol/camera_capture.py": "5791be5e4ce81b93314ebd61f10d8e2ef9c3c63bd940951a691d90f9b576eb45"
  },
  "verification_sha256": "704044584dddeb018e9d6e3f237de8fd0b413f51457056955a2f617fc2816fd9",
  "duration_s": 86.39999806880951,
  "distance_m": 11.798060114585232,
  "remediation_rounds": 2,
  "max_remediation_rounds": 2,
  "approach": {
    "frame_id": "329d762b-4925-48e0-8a26-2c4cc125d9ff",
    "physics_step": 15962,
    "sim_time_s": 79.80999821610749,
    "front": "evidence/329d762b-4925-48e0-8a26-2c4cc125d9ff.png",
    "overview": "evidence/e65ebd5d-93ad-4de1-b4fd-099b24f7aea8.png"
  },
  "observations": [
    {
      "frame_id": "80666b6d-097c-47f3-988f-a6fffd5f0e3b",
      "verdict": "occupied",
      "round": 0,
      "world_revision": 0,
      "physics_step": 16122,
      "rgb_sha256": "0a7bcaab278d6dfe67ca38eacee9880a7ae75b49faddea9053afffe640d56f4d",
      "depth_sha256": "1eb931a09290074c3fdf6b15c6e5518847f67112f9b4adec642b682e9c8afa6b",
      "sim_time_s": 80.6099981982261,
      "action": "request_remediation",
      "association": "inside",
      "visible_samples": 8,
      "total_samples": 25,
      "raised_roi_pixels": 30071,
      "pre_hold": {
        "first_physics_step": 15994,
        "last_physics_step": 16122,
        "first_sim_time_s": 79.96999821253121,
        "last_sim_time_s": 80.6099981982261,
        "sample_count": 33,
        "required_seconds": 0.6,
        "required_samples": 31,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "post_hold": {
        "first_physics_step": 16122,
        "last_physics_step": 16322,
        "first_sim_time_s": 80.6099981982261,
        "last_sim_time_s": 81.60999817587435,
        "sample_count": 51,
        "required_seconds": 1.0,
        "required_samples": 51,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "front": "evidence/80666b6d-097c-47f3-988f-a6fffd5f0e3b.png",
      "overview": "evidence/934df184-b5f5-4c80-aadb-702f20df81df.png"
    },
    {
      "frame_id": "0f4dd0c7-2ac7-4882-ab97-d896630b23a9",
      "verdict": "occupied",
      "round": 1,
      "world_revision": 0,
      "physics_step": 16482,
      "rgb_sha256": "32a9b63120635b1ddef65e53c96b9f8d21fc3b3756c4595a58b4e754ebbc5d87",
      "depth_sha256": "c311ad360e790a83595a29129ad70746b6c0fa6d132f01c713f4e228c8ef5017",
      "sim_time_s": 82.40999815799296,
      "action": "reject_human_claim",
      "association": "inside",
      "visible_samples": 8,
      "total_samples": 25,
      "raised_roi_pixels": 30005,
      "pre_hold": {
        "first_physics_step": 16326,
        "last_physics_step": 16482,
        "first_sim_time_s": 81.62999817542732,
        "last_sim_time_s": 82.40999815799296,
        "sample_count": 40,
        "required_seconds": 0.6,
        "required_samples": 31,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "post_hold": {
        "first_physics_step": 16482,
        "last_physics_step": 16682,
        "first_sim_time_s": 82.40999815799296,
        "last_sim_time_s": 83.40999813564122,
        "sample_count": 51,
        "required_seconds": 1.0,
        "required_samples": 51,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "front": "evidence/0f4dd0c7-2ac7-4882-ab97-d896630b23a9.png",
      "overview": "evidence/b432b010-e78c-418a-ab96-421eb7257639.png"
    },
    {
      "frame_id": "a2478e21-e19d-4c08-98ac-f01334087d8b",
      "verdict": "clear_sampled",
      "round": 2,
      "world_revision": 1,
      "physics_step": 16842,
      "rgb_sha256": "dcdb5bf092bb400619d7f7a2fafe5e7da86545a714a1715baa20283d8cb34eaa",
      "depth_sha256": "cc5544e6ea81395469c8a3585eaf20b4ad752723b4fa4fd02e14b262b030f2b6",
      "sim_time_s": 84.20999811775982,
      "action": "close_simulated_case",
      "association": "absent",
      "visible_samples": 25,
      "total_samples": 25,
      "raised_roi_pixels": 0,
      "pre_hold": {
        "first_physics_step": 16686,
        "last_physics_step": 16842,
        "first_sim_time_s": 83.42999813519418,
        "last_sim_time_s": 84.20999811775982,
        "sample_count": 40,
        "required_seconds": 0.6,
        "required_samples": 31,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "post_hold": {
        "first_physics_step": 16842,
        "last_physics_step": 17042,
        "first_sim_time_s": 84.20999811775982,
        "last_sim_time_s": 85.20999809540808,
        "sample_count": 51,
        "required_seconds": 1.0,
        "required_samples": 51,
        "xy_tolerance_m": 0.18,
        "yaw_tolerance_rad": 0.12,
        "speed_3d_limit_m_s": 0.06,
        "angular_3d_limit_rad_s": 0.12,
        "physical_joint_hold_required": true
      },
      "front": "evidence/a2478e21-e19d-4c08-98ac-f01334087d8b.png",
      "overview": "evidence/ac5c4ab7-e6b7-4990-a21a-1e6150a6a1e0.png"
    }
  ],
  "events": [
    {
      "type": "human_claim",
      "round": 1,
      "world_revision": 0,
      "at_sim_time_s": 81.62999817542732
    },
    {
      "type": "scripted_human_removal",
      "round": 2,
      "world_revision": 1,
      "at_sim_time_s": 83.42999813519418
    }
  ],
  "models": {
    "policy": "jev-fn",
    "jev_model": "jev-1.14.0",
    "fn_model": "qwen3.8-flash-next-ud-q4_k_xl",
    "jev_calls": 8,
    "fn_calls": 2
  },
  "assets": {
    "evidence/80666b6d-097c-47f3-988f-a6fffd5f0e3b.png": {
      "source": "frames/80666b6d-097c-47f3-988f-a6fffd5f0e3b-rgb.png",
      "sha256": "0a7bcaab278d6dfe67ca38eacee9880a7ae75b49faddea9053afffe640d56f4d",
      "bytes": 103047
    },
    "evidence/934df184-b5f5-4c80-aadb-702f20df81df.png": {
      "source": "frames/934df184-b5f5-4c80-aadb-702f20df81df-rgb.png",
      "sha256": "2e2685096b346aaa91e5ac0c37ab3233b9c3a4baf271430242d77d08d6d1d057",
      "bytes": 127166
    },
    "evidence/0f4dd0c7-2ac7-4882-ab97-d896630b23a9.png": {
      "source": "frames/0f4dd0c7-2ac7-4882-ab97-d896630b23a9-rgb.png",
      "sha256": "32a9b63120635b1ddef65e53c96b9f8d21fc3b3756c4595a58b4e754ebbc5d87",
      "bytes": 108229
    },
    "evidence/b432b010-e78c-418a-ab96-421eb7257639.png": {
      "source": "frames/b432b010-e78c-418a-ab96-421eb7257639-rgb.png",
      "sha256": "e176e28bb2db50d96762c0fd9d5754e6e3fad24e903f93d4a1f08d5e1a7acc0c",
      "bytes": 128536
    },
    "evidence/a2478e21-e19d-4c08-98ac-f01334087d8b.png": {
      "source": "frames/a2478e21-e19d-4c08-98ac-f01334087d8b-rgb.png",
      "sha256": "dcdb5bf092bb400619d7f7a2fafe5e7da86545a714a1715baa20283d8cb34eaa",
      "bytes": 96952
    },
    "evidence/ac5c4ab7-e6b7-4990-a21a-1e6150a6a1e0.png": {
      "source": "frames/ac5c4ab7-e6b7-4990-a21a-1e6150a6a1e0-rgb.png",
      "sha256": "7d7e609c75250c18131686198d810e48e02d8a07735260480eed5b14c27a9098",
      "bytes": 129088
    },
    "evidence/329d762b-4925-48e0-8a26-2c4cc125d9ff.png": {
      "source": "frames/329d762b-4925-48e0-8a26-2c4cc125d9ff-rgb.png",
      "sha256": "1ceb0437fdca9dc20f0335dc4f60a2c1b26e5065ac27269850f344ee45f6cd6f",
      "bytes": 99807
    },
    "evidence/e65ebd5d-93ad-4de1-b4fd-099b24f7aea8.png": {
      "source": "frames/e65ebd5d-93ad-4de1-b4fd-099b24f7aea8-rgb.png",
      "sha256": "1348c6c8d9317bd855b30978233a84f86f3a9babc2ba257b4a84b72eab93b8ec",
      "bytes": 110710
    }
  },
  "video": {
    "file": "story.mp4",
    "sha256": "4b206b8142a1ac115a61a3db996ee768b6b3cfbc699b6af4d1c49469740fcdfa",
    "frame_count": 462,
    "duration_s": 30.8,
    "playback_rate": 3,
    "sim_clock_pauses_for_inference": true
  },
  "html_sha256": "5aed34446fe4438e92e3fc3a722e5d083f39d94d112799041c621500adcb63b1",
  "exporter_sha256": "22ca953b5141744ceb05d411d2b7ba62d9cf74ee03ca8b9e164282dfc63ab623",
  "stylesheet_sha256": "cf712d8836a0a49ca0ee1b9586566810dad3e7ae31a98913bbe74196b29dd787"
}