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:24.5,"screening_torque_nm":25,"screening_speed_rad_s":37,"reference_kp":60,"reference_kd":1.5},{"joint":"right_wrist_pitch","kp":60,"kd":1.5,"model_torque_min_nm":-4.9,"model_torque_max_nm":4.9,"screening_torque_nm":5,"screening_speed_rad_s":22,"reference_kp":60,"reference_kd":1.5},{"joint":"right_wrist_yaw","kp":60,"kd":1.5,"model_torque_min_nm":-4.9,"model_torque_max_nm":4.9,"screening_torque_nm":5,"screening_speed_rad_s":22,"reference_kp":60,"reference_kd":1.5}],"controller_contract":"g1-basketball-115-profile-v1","controller_execution":"Original policy.onnx; graph normalization and controller logic are preserved without a raw-network re-export.","reference_version":"brunson-profile-scene-v11","solver_iterations":10,"line_search_iterations":10,"ball_start_contract":"/docs/g1-policy-checks#basketball-start"},"task_summary":{"crossovers":0,"episodes_with_crossovers":0,"note":"Zero safety findings does not establish successful ball handling. Camera perception is not tested."},"wall_seconds":79.058895356,"runtime_review":{"status":"comparison_required","owner":"HIM","summary":"The test setup needs review before these findings can be attributed to the policy.","next_step":"Compare the recorded CPU simulator, observation timing, gains and startup with your submitted run. Reproduce this documented controller contract locally and upload a matching export to rerun automatically. Preserve both reports; do not retune solely to satisfy an unmatched test.","differences":["Arena uses the reviewed CPU bridge, not the submitted MJX or vision evaluator. Equivalence to those reference runs has not been established.","The CPU bridge uses one-step ball observation delay, no action delay and no ball respawn. Submitted MJX behavior can differ in delays, contact tracking, resets and physics.","Authored assets/arena_g1_profile.json, matching the submitted safety-mode configuration; no gain randomization. These controller settings do not override the PR #10 checker limits."]}}}