{"protocol_version":1,"release_id":"g1-screening-pr6-47cd947-v4","source_sha256":"274e51d0564d27ed84e135c3762491ac88958a71bc17b29656249236bc98a27d","compatibility":{"code":"supported","owner":"HIM","summary":"Recognized the reviewed basketball controller. Simulation uses its original reviewed inference path; conversion details are recorded below.","next_steps":[],"models":[{"path":"evaluation/traj_neutral_ep0.npz","format":"npz","bytes":12266},{"path":"evaluation/traj_neutral_ep1.npz","format":"npz","bytes":15229},{"path":"evaluation/traj_trained_ep0.npz","format":"npz","bytes":160212},{"path":"evaluation/traj_trained_ep1.npz","format":"npz","bytes":160154},{"path":"policy.onnx","format":"onnx","bytes":926349,"inputs":[{"name":"obs","shape":["N",115]}],"outputs":[{"name":"action","shape":["N",29]}],"external_weights":false},{"path":"policy_weights.npz","format":"npz","bytes":927972}],"model_count":6,"changes":[{"kind":"onnx_export","summary":"Prepared a portable ONNX model from the reviewed NumPy weights; checked matching outputs on 256 deterministic test inputs. Safety retains the original reviewed inference path. This is numerical conversion evidence, not a safety pass.","source_sha256":"804ce63ae116c93725b9b1eaa5140d8f31b8ea524cf6e76b9f9d7a301ea8e7d0","output_sha256":"f5a1d7585e6da3e9aa7664e554eb9a1c3c1a9c2332d56e8c97c0a396dbde9a76","file":"evaluation/prepared/policy.onnx","test_inputs":256,"max_absolute_error":0.0000050067901611328125,"absolute_tolerance":0.00002,"relative_tolerance":0.00002}],"source_preserved":true,"simulation_ran":true},"outcome":"report","report":{"version":1,"status":"incomplete","exit_code":2,"hardware_authorization":false,"adapter":"g1-basketball-115-v1","controller_variant":"source_a1a943e9badf36278d4e","self_collisions":true,"tested_behavior":"Basketball controller with ball tracking in its fingerprinted task scene. Twelve independent 20-second dribble simulations from both authored stances; same upstream joint, torque, tracking, fall and sustained-speed checks. No walker commands, push branches, camera images or physical-robot testing.","profile":{"version":1,"name":"g1-model-limits-provisional","calibrated":false,"joint_position_tolerance_rad":0.05,"fall_height_m":0.28,"fall_upright_min":0.3,"maxima":{},"uncalibrated_metrics":["joint_velocity","joint_acceleration","tracking_error","target_rate","base_linear_speed","base_angular_speed","contact_force","clipping"]},"clip_to_stops":false,"joint_movement_checks":{"profile_file":"g1_type5.template.json","covered_joints":["left_hip_pitch_joint","left_hip_roll_joint","left_hip_yaw_joint","left_knee_joint","left_ankle_pitch_joint","left_ankle_roll_joint","right_hip_pitch_joint","right_hip_roll_joint","right_hip_yaw_joint","right_knee_joint","right_ankle_pitch_joint","right_ankle_roll_joint","waist_yaw_joint","waist_roll_joint","waist_pitch_joint","left_shoulder_pitch_joint","left_shoulder_roll_joint","left_shoulder_yaw_joint","left_elbow_joint","left_wrist_roll_joint","left_wrist_pitch_joint","left_wrist_yaw_joint","right_shoulder_pitch_joint","right_shoulder_roll_joint","right_shoulder_yaw_joint","right_elbow_joint","right_wrist_roll_joint","right_wrist_pitch_joint","right_wrist_yaw_joint"],"uncovered_joints":[],"profile_values":{"expected_machine_type":5,"allowed_start_fsm_ids":[4],"handover_secs":3,"max_publish_gap_secs":0.1,"initial_position_tolerance_rad":0.03,"initial_velocity_tolerance_rad_secs":0.05,"joints":{"left_hip_pitch":{"position_min_rad":-2.5307,"position_max_rad":2.8798,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.146667,"max_torque_nm":88},"left_hip_roll":{"position_min_rad":-0.5236,"position_max_rad":2.9671,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.231667,"max_torque_nm":139},"left_hip_yaw":{"position_min_rad":-2.7576,"position_max_rad":2.7576,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.146667,"max_torque_nm":88},"left_knee":{"position_min_rad":-0.087267,"position_max_rad":2.8798,"kp":200,"kd":4,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.17375,"max_torque_nm":139},"left_ankle_pitch":{"position_min_rad":-0.87267,"position_max_rad":0.5236,"kp":40,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.21875,"max_torque_nm":35},"left_ankle_roll":{"position_min_rad":-0.2618,"position_max_rad":0.2618,"kp":40,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.21875,"max_torque_nm":35},"right_hip_pitch":{"position_min_rad":-2.5307,"position_max_rad":2.8798,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.146667,"max_torque_nm":88},"right_hip_roll":{"position_min_rad":-2.9671,"position_max_rad":0.5236,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.231667,"max_torque_nm":139},"right_hip_yaw":{"position_min_rad":-2.7576,"position_max_rad":2.7576,"kp":150,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.146667,"max_torque_nm":88},"right_knee":{"position_min_rad":-0.087267,"position_max_rad":2.8798,"kp":200,"kd":4,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.17375,"max_torque_nm":139},"right_ankle_pitch":{"position_min_rad":-0.87267,"position_max_rad":0.5236,"kp":40,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.21875,"max_torque_nm":35},"right_ankle_roll":{"position_min_rad":-0.2618,"position_max_rad":0.2618,"kp":40,"kd":2,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.21875,"max_torque_nm":35},"waist_yaw":{"position_min_rad":-2.618,"position_max_rad":2.618,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":0.5,"max_tracking_error_rad":0.05,"max_torque_nm":88},"waist_roll":{"position_min_rad":-0.52,"position_max_rad":0.52,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":0.5,"max_tracking_error_rad":0.05,"max_torque_nm":35},"waist_pitch":{"position_min_rad":-0.52,"position_max_rad":0.52,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":0.5,"max_tracking_error_rad":0.05,"max_torque_nm":35},"left_shoulder_pitch":{"position_min_rad":-3.0892,"position_max_rad":2.6704,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"left_shoulder_roll":{"position_min_rad":-1.5882,"position_max_rad":2.2515,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"left_shoulder_yaw":{"position_min_rad":-2.618,"position_max_rad":2.618,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"left_elbow":{"position_min_rad":-1.0472,"position_max_rad":2.0944,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"left_wrist_roll":{"position_min_rad":-1.972222054,"position_max_rad":1.972222054,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":25},"left_wrist_pitch":{"position_min_rad":-1.614429558,"position_max_rad":1.614429558,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":5},"left_wrist_yaw":{"position_min_rad":-1.614429558,"position_max_rad":1.614429558,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":5},"right_shoulder_pitch":{"position_min_rad":-3.0892,"position_max_rad":2.6704,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"right_shoulder_roll":{"position_min_rad":-2.2515,"position_max_rad":1.5882,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"right_shoulder_yaw":{"position_min_rad":-2.618,"position_max_rad":2.618,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"right_elbow":{"position_min_rad":-1.0472,"position_max_rad":2.0944,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.3,"max_torque_nm":25},"right_wrist_roll":{"position_min_rad":-1.972222054,"position_max_rad":1.972222054,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":25},"right_wrist_pitch":{"position_min_rad":-1.614429558,"position_max_rad":1.614429558,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":5},"right_wrist_yaw":{"position_min_rad":-1.614429558,"position_max_rad":1.614429558,"kp":60,"kd":1.5,"max_velocity_rad_secs":9,"max_acceleration_rad_secs2":1,"max_tracking_error_rad":0.05,"max_torque_nm":5}}},"rules":["target_position","target_velocity","position_target_change","velocity_target_change","tracking_error","initial_target_mismatch","initial_target_velocity","zero_feedforward_torque","torque_demand_and_applied_bounds"],"semantics":"Velocity-change limits apply to commanded dq, not measured or position-derived acceleration. Simulation validates the initial hold, then checks policy motion against that baseline. Profile gains and hardware ownership handover are not imported."},"coverage":{"planned":12,"reported":12,"completed":0,"violation":7,"error":5,"incomplete":0},"scenarios":[{"name":"basketball-0-1000","kind":"nominal","command":[],"seed":1000,"stance":0,"seconds":20,"upright":true,"status":"error","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.12568685572149624,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.2848200113296509,"joint_velocity":646585.2036350488,"joint_acceleration":324243122.8224572,"actuator_torque":139,"tracking_error":1285.720337129875,"target_rate":80,"base_linear_speed":38872.16971307181,"base_angular_speed":146391.02717340874,"contact_force":83099.92831705538},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.12568685572149624,"limit":0.03,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.2771773439931644,"limit":0.146667,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.04600000000000003,"joint":"right_ankle_pitch","value":45.40164144523175,"limit":35,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.06000000000000004},{"reason":"joint_position_limit","time_seconds":0.1360000000000001},{"reason":"joint_position_target_change_limit","time_seconds":0.1400000000000001,"joint":"left_hip_roll","value":0.3765069246292114,"limit":0.18,"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":0.21200000000000016,"joint":"left_ankle_pitch","value":24.292240063090084,"limit":9,"units":"rad/s"},{"reason":"fall","time_seconds":1.1600000000000008},{"reason":"base_angular_speed_limit","time_seconds":1.254000000000001},{"reason":"joint_velocity_limit","time_seconds":1.6420000000000012,"joint":"left_ankle_roll","value":137.97907232907323,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6340000000000012,"joint":"right_hip_pitch","value":9.327910350426649,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6340000000000012,"joint":"right_hip_yaw","value":157.24138065346773,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6160000000000012,"joint":"right_knee","value":95.12238453469061,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.4840000000000004,"joint":"right_ankle_pitch","value":10.669014540099054,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6140000000000012,"joint":"right_ankle_roll","value":54.715785562143,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6080000000000012,"joint":"waist_yaw","value":26.47596145342323,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6460000000000012,"joint":"left_shoulder_roll","value":2694.9172740809486,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6060000000000012,"joint":"right_shoulder_pitch","value":21.911775905519292,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.6240000000000012,"joint":"right_elbow","value":24.01788687353212,"limit":9,"units":"rad/s","hold_seconds":0.05}],"error":"RuntimeError: simulator_warning","violent_motion":true,"simulated_seconds":1.6480000000000012,"progress":{"displacement_m":[-0.00401063711845968,0.002469967283168078,0.05158775616337241]},"trace":"traces/00000.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.46810685572149624,"initial_target_rad":-0.34242,"target_minus_position_rad":0.12568685572149624},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.12714051082037978,"initial_target_rad":0.08268,"target_minus_position_rad":-0.04446051082037977},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":-0.004403492160664762,"initial_target_rad":0.0649,"target_minus_position_rad":0.06930349216066477},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7492248765526808,"initial_target_rad":0.64618,"target_minus_position_rad":-0.1030448765526808},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.29585445846279684,"initial_target_rad":-0.21931,"target_minus_position_rad":0.07654445846279684},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.11811782319515268,"initial_target_rad":-0.00307,"target_minus_position_rad":0.11504782319515268},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.1769272640814889,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.1547827359185111},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.10554910686850436,"initial_target_rad":-0.05792,"target_minus_position_rad":0.047629106868504356},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":0.006060306603872852,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.07818030660387286},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7418933245425033,"initial_target_rad":0.59959,"target_minus_position_rad":-0.14230332454250338},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5386776667456448,"initial_target_rad":-0.1938,"target_minus_position_rad":0.3448776667456448},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.09634235979236833,"initial_target_rad":0.10662,"target_minus_position_rad":0.01027764020763168},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.018598555275107582,"initial_target_rad":-0.00015,"target_minus_position_rad":0.01844855527510758},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":0.029099734913530326,"initial_target_rad":-0.00154,"target_minus_position_rad":-0.030639734913530326},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":0.008599829956773924,"initial_target_rad":0.03845,"target_minus_position_rad":0.029850170043226074},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3346329697987273,"initial_target_rad":0.40246,"target_minus_position_rad":0.06782703020127268},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.1587447940564521,"initial_target_rad":0.26385,"target_minus_position_rad":0.10510520594354789},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":0.006763881127147248,"initial_target_rad":0.0178,"target_minus_position_rad":0.011036118872852753},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8806062589517233,"initial_target_rad":0.83512,"target_minus_position_rad":-0.04548625895172331},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.023928451724907894,"initial_target_rad":-0.00008,"target_minus_position_rad":-0.024008451724907894},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.028815826842430014,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.036645826842430014},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":-0.020844057829867733,"initial_target_rad":0.0019,"target_minus_position_rad":0.02274405782986773},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3597553565222063,"initial_target_rad":0.40258,"target_minus_position_rad":0.04282464347779369},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.17978551318653876,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.08136448681346123},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":-0.028239207453723728,"initial_target_rad":-0.01714,"target_minus_position_rad":0.011099207453723729},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8589114943356485,"initial_target_rad":0.8351,"target_minus_position_rad":-0.023811494335648553},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.007125803344147204,"initial_target_rad":0.00009,"target_minus_position_rad":0.007215803344147204},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.010408325271677916,"initial_target_rad":-0.00783,"target_minus_position_rad":0.0025783252716779156},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":0.026632680080694405,"initial_target_rad":-0.00183,"target_minus_position_rad":-0.028462680080694407}],"upstream_simulated_seconds":0.002,"trace_note":"Simulator clock reset after a warning. Findings use only the valid prefix; the original trace is retained.","valid_trace_samples":824},{"name":"basketball-1-1001","kind":"nominal","command":[],"seed":1001,"stance":1,"seconds":20,"upright":true,"status":"error","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.1746156957141971,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.2850900203704834,"joint_velocity":3285857.21765726,"joint_acceleration":1654467719.2529442,"actuator_torque":139,"tracking_error":6531.678833762964,"target_rate":80,"base_linear_speed":41744.066770478064,"base_angular_speed":247910.3364769561,"contact_force":97668906.13141865},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.1746156957141971,"limit":0.146667,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0.020000000000000004,"joint":"left_hip_pitch","value":0.3417856693267822,"limit":0.18,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.04000000000000002},{"reason":"joint_torque_limit","time_seconds":0.05000000000000003,"joint":"right_ankle_pitch","value":36.40199727433761,"limit":35,"units":"Nm"},{"reason":"joint_position_limit","time_seconds":0.17000000000000012},{"reason":"joint_velocity_limit","time_seconds":0.2440000000000002,"joint":"right_ankle_pitch","value":19.098196644217545,"limit":9,"units":"rad/s"},{"reason":"base_angular_speed_limit","time_seconds":0.6900000000000005},{"reason":"fall","time_seconds":1.0280000000000007},{"reason":"joint_target_position_limit","time_seconds":4.019999999999779,"joint":"left_ankle_roll","value":-0.44784343242645264,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":1.0500000000000007,"joint":"left_hip_roll","value":9.156207271860366,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7420000000000005,"joint":"left_hip_yaw","value":36.40695994109584,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7220000000000005,"joint":"left_knee","value":70.14583766059725,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.6880000000000005,"joint":"left_ankle_pitch","value":36.47873690694753,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.833999999999469,"joint":"left_ankle_roll","value":15.821336250662021,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7520000000000006,"joint":"right_hip_pitch","value":36.85601879060192,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7680000000000006,"joint":"right_hip_roll","value":21.964465507922906,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.8200000000000006,"joint":"right_hip_yaw","value":18.324409798604112,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.392000000000001,"joint":"right_knee","value":10.3073390849165,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.529999999999943,"joint":"right_ankle_roll","value":15.276748891361924,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.9260000000000007,"joint":"waist_yaw","value":13.120543510357255,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.0459999999999963,"joint":"waist_roll","value":9.041030036379682,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.8160000000000006,"joint":"waist_pitch","value":14.654992832236001,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.6980000000000005,"joint":"left_shoulder_pitch","value":38.83484231193095,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.9500000000000007,"joint":"left_shoulder_roll","value":12.315078968871568,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.8100000000000006,"joint":"left_shoulder_yaw","value":12.8625163243126,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.9680000000000007,"joint":"left_elbow","value":10.243251934966498,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.868000000000633,"joint":"left_wrist_roll","value":46.93587143659011,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.841999999999579,"joint":"left_wrist_pitch","value":10.314759188080375,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.6680000000000005,"joint":"left_wrist_yaw","value":26.31446475815082,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7580000000000006,"joint":"right_shoulder_pitch","value":16.9866563518867,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.414000000000001,"joint":"right_shoulder_roll","value":12.225343223586655,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.778000000000603,"joint":"right_shoulder_yaw","value":53.79066544537574,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.933999999999458,"joint":"right_elbow","value":10.022076168484013,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.938000000000656,"joint":"right_wrist_roll","value":43.34780958874219,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.8080000000000006,"joint":"right_wrist_pitch","value":9.333283706568158,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.894000000000641,"joint":"right_wrist_yaw","value":11.400967367785794,"limit":9,"units":"rad/s","hold_seconds":0.05}],"error":"RuntimeError: simulator_warning","violent_motion":true,"simulated_seconds":18.230000000000775,"progress":{"displacement_m":[-0.00401063711845968,-0.002460032716831922,0.05158775616337241]},"trace":"traces/00001.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.15700430428580292,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.1746156957141971},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.0921020280692199,"initial_target_rad":0.05807,"target_minus_position_rad":-0.0340320280692199},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":-0.02170862538708422,"initial_target_rad":0.07239,"target_minus_position_rad":0.09409862538708422},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.7413534038724675,"initial_target_rad":0.59945,"target_minus_position_rad":-0.14190340387246747},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5822880819439311,"initial_target_rad":-0.1936,"target_minus_position_rad":0.3886880819439311},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.12974458533327457,"initial_target_rad":-0.10689,"target_minus_position_rad":0.02285458533327457},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.461643940037616,"initial_target_rad":-0.34249,"target_minus_position_rad":0.11915394003761598},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.14460627198874154,"initial_target_rad":-0.0825,"target_minus_position_rad":0.06210627198874154},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":-0.01821773572938202,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.04634226427061799},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.7480147004447625,"initial_target_rad":0.64634,"target_minus_position_rad":-0.10167470044476246},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.31980429671892047,"initial_target_rad":-0.21937,"target_minus_position_rad":0.10043429671892046},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.12831701877593735,"initial_target_rad":0.00285,"target_minus_position_rad":-0.12546701877593736},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":0.015899192670856373,"initial_target_rad":0.00016,"target_minus_position_rad":-0.015739192670856373},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":-0.014931925115567153,"initial_target_rad":0.00338,"target_minus_position_rad":0.018311925115567153},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.0021627409726300657,"initial_target_rad":0.03844,"target_minus_position_rad":0.040602740972630065},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3304749640916736,"initial_target_rad":0.40258,"target_minus_position_rad":0.0721050359083264},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.16824912709566708,"initial_target_rad":0.26112,"target_minus_position_rad":0.09287087290433294},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":0.024077517687078356,"initial_target_rad":0.01714,"target_minus_position_rad":-0.006937517687078357},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8452160020916111,"initial_target_rad":0.8351,"target_minus_position_rad":-0.01011600209161112},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.0179288508233023,"initial_target_rad":-0.00009,"target_minus_position_rad":0.0178388508233023},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.013706577921184179,"initial_target_rad":-0.00783,"target_minus_position_rad":0.005876577921184178},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.027299872440963695,"initial_target_rad":0.00182,"target_minus_position_rad":-0.025479872440963697},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3648444605948399,"initial_target_rad":0.40246,"target_minus_position_rad":0.0376155394051601},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.19999855072947287,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.06388144927052714},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":0.024094405593058216,"initial_target_rad":-0.01781,"target_minus_position_rad":-0.04190440559305822},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8642522997092736,"initial_target_rad":0.83512,"target_minus_position_rad":-0.029132299709273668},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.010257520022618583,"initial_target_rad":0.00008,"target_minus_position_rad":0.010337520022618583},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.025412910887600622,"initial_target_rad":-0.00783,"target_minus_position_rad":0.01758291088760062},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.0076809958390852764,"initial_target_rad":-0.0019,"target_minus_position_rad":0.005780995839085277}],"upstream_simulated_seconds":0.002,"trace_note":"Simulator clock reset after a warning. Findings use only the valid prefix; the original trace is retained.","valid_trace_samples":9115},{"name":"basketball-0-1002","kind":"nominal","command":[],"seed":1002,"stance":0,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.13412073043101302,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.28477876491546633,"joint_velocity":587.4314961676963,"joint_acceleration":288541.5464317242,"actuator_torque":139,"tracking_error":9.714083226538937,"target_rate":79.99791717529297,"base_linear_speed":11.892844186607048,"base_angular_speed":122.70265269474815,"contact_force":44553.8651129665},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.13412073043101302,"limit":0.03,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.2656921883083058,"limit":0.146667,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0.04000000000000002,"joint":"left_hip_pitch","value":0.2801479697227478,"limit":0.18,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.1400000000000001},{"reason":"joint_torque_limit","time_seconds":0.20600000000000016,"joint":"left_ankle_pitch","value":49.02682762124373,"limit":35,"units":"Nm"},{"reason":"joint_position_limit","time_seconds":0.5020000000000003},{"reason":"fall","time_seconds":3.5419999999998315},{"reason":"base_angular_speed_limit","time_seconds":3.853999999999797},{"reason":"joint_velocity_limit","time_seconds":3.901999999999792,"joint":"left_hip_roll","value":9.641718466449356,"limit":9,"units":"rad/s"},{"reason":"joint_target_position_limit","time_seconds":6.319999999999526,"joint":"right_ankle_roll","value":0.30500221252441406,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":17.888000000000964,"joint":"left_hip_pitch","value":17.889689910652862,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.37600000000125,"joint":"left_hip_yaw","value":9.58943561950782,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.184000000001072,"joint":"left_knee","value":10.629990436297811,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.9419999999997875,"joint":"left_ankle_pitch","value":30.71165030907957,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.762000000000597,"joint":"left_ankle_roll","value":12.235391375502507,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.73200000000105,"joint":"right_hip_pitch","value":22.624953711687542,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.972000000000918,"joint":"right_hip_roll","value":10.773545835064256,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":18.556000000000594,"joint":"right_hip_yaw","value":11.191235717238314,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":18.212000000000785,"joint":"right_knee","value":17.315787444374106,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.691999999999705,"joint":"right_ankle_pitch","value":11.966998796738656,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.9299999999997888,"joint":"right_ankle_roll","value":17.18662814628897,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":16.314000000001837,"joint":"waist_roll","value":12.907980587388082,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.901999999999792,"joint":"left_shoulder_pitch","value":17.590496376253395,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.733999999999701,"joint":"left_shoulder_roll","value":10.47833501539256,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.7379999999997,"joint":"left_shoulder_yaw","value":18.092882495701627,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.691999999999705,"joint":"left_elbow","value":10.105796588144504,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":16.63000000000166,"joint":"left_wrist_roll","value":10.963530985061132,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.6899999999997055,"joint":"left_wrist_pitch","value":9.358811460684892,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.7359999999997004,"joint":"left_wrist_yaw","value":29.62111790028464,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.91799999999979,"joint":"right_shoulder_pitch","value":12.75888704233868,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.245999999999644,"joint":"right_shoulder_roll","value":10.928209737193045,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.922000000000946,"joint":"right_shoulder_yaw","value":14.095726526129464,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.758000000001264,"joint":"right_elbow","value":9.030150176212246,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.314000000000448,"joint":"right_wrist_roll","value":9.019206135588604,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.516000000001183,"joint":"right_wrist_pitch","value":12.861061563766533,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.378000000000803,"joint":"right_wrist_yaw","value":14.461641989099881,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[-6.245374214684344,6.377157750198124,-1.3626991994798838]},"trace":"traces/00002.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.476540730431013,"initial_target_rad":-0.34242,"target_minus_position_rad":0.13412073043101302},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.11234136026025682,"initial_target_rad":0.08268,"target_minus_position_rad":-0.029661360260256814},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":0.012196739024091467,"initial_target_rad":0.0649,"target_minus_position_rad":0.052703260975908536},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7603995151462947,"initial_target_rad":0.64618,"target_minus_position_rad":-0.11421951514629469},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.30735212879202783,"initial_target_rad":-0.21931,"target_minus_position_rad":0.08804212879202783},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.09628632822822256,"initial_target_rad":-0.00307,"target_minus_position_rad":0.09321632822822255},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.18258689590012514,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.14912310409987486},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.14359085725778728,"initial_target_rad":-0.05792,"target_minus_position_rad":0.08567085725778728},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":0.02338098947510003,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.09550098947510004},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7142320034479182,"initial_target_rad":0.59959,"target_minus_position_rad":-0.1146420034479182},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5312689128201044,"initial_target_rad":-0.1938,"target_minus_position_rad":0.3374689128201044},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.10231479210240288,"initial_target_rad":0.10662,"target_minus_position_rad":0.004305207897597127},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.008032775631648763,"initial_target_rad":-0.00015,"target_minus_position_rad":0.007882775631648763},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":0.02944516132849834,"initial_target_rad":-0.00154,"target_minus_position_rad":-0.03098516132849834},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.014615406372138692,"initial_target_rad":0.03845,"target_minus_position_rad":0.05306540637213869},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3197342499071577,"initial_target_rad":0.40246,"target_minus_position_rad":0.08272575009284228},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.14667953304519177,"initial_target_rad":0.26385,"target_minus_position_rad":0.1171704669548082},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":0.018286605253446327,"initial_target_rad":0.0178,"target_minus_position_rad":-0.0004866052534463275},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8500969133955512,"initial_target_rad":0.83512,"target_minus_position_rad":-0.014976913395551184},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.02073596005836384,"initial_target_rad":-0.00008,"target_minus_position_rad":0.02065596005836384},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.014534613148013036,"initial_target_rad":-0.00783,"target_minus_position_rad":0.006704613148013036},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.015362536884810301,"initial_target_rad":0.0019,"target_minus_position_rad":-0.0134625368848103},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.33777270747414195,"initial_target_rad":0.40258,"target_minus_position_rad":0.06480729252585804},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.20530971829522232,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.05584028170477767},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":-0.02479250733239508,"initial_target_rad":-0.01714,"target_minus_position_rad":0.00765250733239508},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8771164985000401,"initial_target_rad":0.8351,"target_minus_position_rad":-0.04201649850004019},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.02857445513162595,"initial_target_rad":0.00009,"target_minus_position_rad":0.028664455131625948},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.015509371161637853,"initial_target_rad":-0.00783,"target_minus_position_rad":0.007679371161637853},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.02189586308520369,"initial_target_rad":-0.00183,"target_minus_position_rad":0.020065863085203688}]},{"name":"basketball-1-1003","kind":"nominal","command":[],"seed":1003,"stance":1,"seconds":20,"upright":true,"status":"error","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.14912544209611805,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.28442995853424075,"joint_velocity":4804433.85633335,"joint_acceleration":2404520283.052532,"actuator_torque":139,"tracking_error":9591.437849306105,"target_rate":79.99992370605469,"base_linear_speed":65410.28101098451,"base_angular_speed":447916.97056859295,"contact_force":451049.98861647164},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.14912544209611805,"limit":0.146667,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.020000000000000004},{"reason":"joint_torque_limit","time_seconds":0.022000000000000006,"joint":"right_ankle_pitch","value":66.31210961891249,"limit":35,"units":"Nm"},{"reason":"joint_position_limit","time_seconds":0.054000000000000034},{"reason":"joint_position_target_change_limit","time_seconds":0.16000000000000011,"joint":"left_hip_pitch","value":0.5428440570831299,"limit":0.18,"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":0.5640000000000004,"joint":"left_ankle_pitch","value":23.726629772645907,"limit":9,"units":"rad/s"},{"reason":"fall","time_seconds":0.8960000000000007},{"reason":"base_angular_speed_limit","time_seconds":0.9060000000000007},{"reason":"joint_target_position_limit","time_seconds":6.09999999999955,"joint":"left_ankle_roll","value":-0.5073843002319336,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":5.631999999999602,"joint":"left_hip_pitch","value":22.997653018239646,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":9.513999999999847,"joint":"left_hip_roll","value":27.859967587135454,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.7959999999999137,"joint":"left_hip_yaw","value":9.316419351343413,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.631999999999602,"joint":"left_knee","value":30.012869406949566,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.276000000000001,"joint":"left_ankle_roll","value":33.6701608866912,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.769999999999587,"joint":"right_hip_pitch","value":19.264734135373146,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":9.453999999999827,"joint":"right_hip_roll","value":98.32144146811673,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.6799999999995965,"joint":"right_hip_yaw","value":39.36094534310149,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.701999999999594,"joint":"right_knee","value":16.798847698485634,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.9980000000000016,"joint":"right_ankle_pitch","value":13.38402788508327,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":9.483999999999837,"joint":"right_ankle_roll","value":46.675717438606426,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.6519999999996,"joint":"waist_yaw","value":31.21395521563175,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.657999999999599,"joint":"waist_roll","value":11.079818334679974,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.677999999999597,"joint":"waist_pitch","value":11.298962549908806,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.254000000000001,"joint":"left_shoulder_pitch","value":21.90862529253893,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.334000000000001,"joint":"left_shoulder_roll","value":10.225055408382456,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.155999999999984,"joint":"left_shoulder_yaw","value":12.829761519446828,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.949999999999567,"joint":"left_elbow","value":11.255024276262056,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.791999999999584,"joint":"left_wrist_roll","value":11.392379803615478,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.3699999999999606,"joint":"left_wrist_pitch","value":21.920593353637685,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.385999999999959,"joint":"left_wrist_yaw","value":25.8351147096765,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7540000000000006,"joint":"right_shoulder_pitch","value":12.94231247236531,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.394000000000001,"joint":"right_shoulder_roll","value":13.274244718433053,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.334000000000001,"joint":"right_elbow","value":10.279321060465696,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.6499999999996,"joint":"right_wrist_roll","value":9.026512961922485,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.7320000000000005,"joint":"right_wrist_pitch","value":15.492409779803163,"limit":9,"units":"rad/s","hold_seconds":0.05}],"error":"RuntimeError: simulator_warning","violent_motion":true,"simulated_seconds":9.689999999999905,"progress":{"displacement_m":[-0.00401063711845968,-0.002460032716831922,0.05158775616337241]},"trace":"traces/00003.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.18249455790388197,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.14912544209611805},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.10656234861312933,"initial_target_rad":0.05807,"target_minus_position_rad":-0.04849234861312933},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":-0.00328924036866892,"initial_target_rad":0.07239,"target_minus_position_rad":0.07567924036866891},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.7295274934490511,"initial_target_rad":0.59945,"target_minus_position_rad":-0.13007749344905106},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5417332282994354,"initial_target_rad":-0.1936,"target_minus_position_rad":0.3481332282994354},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.09842412791161939,"initial_target_rad":-0.10689,"target_minus_position_rad":-0.008465872088380608},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.47902376802975516,"initial_target_rad":-0.34249,"target_minus_position_rad":0.13653376802975514},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.11466756469011063,"initial_target_rad":-0.0825,"target_minus_position_rad":0.03216756469011063},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":0.03088462675072435,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.09544462675072435},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.7796022484280025,"initial_target_rad":0.64634,"target_minus_position_rad":-0.1332622484280025},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.31469791587205964,"initial_target_rad":-0.21937,"target_minus_position_rad":0.09532791587205963},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.07771201856370596,"initial_target_rad":0.00285,"target_minus_position_rad":-0.07486201856370596},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":0.012421849737635823,"initial_target_rad":0.00016,"target_minus_position_rad":-0.012261849737635822},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":0.02163344627020506,"initial_target_rad":0.00338,"target_minus_position_rad":-0.01825344627020506},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.008228456889315377,"initial_target_rad":0.03844,"target_minus_position_rad":0.04666845688931538},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.32469563468866597,"initial_target_rad":0.40258,"target_minus_position_rad":0.07788436531133403},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.17875500703584277,"initial_target_rad":0.26112,"target_minus_position_rad":0.08236499296415725},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":0.000971213638757402,"initial_target_rad":0.01714,"target_minus_position_rad":0.016168786361242596},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8912392212604204,"initial_target_rad":0.8351,"target_minus_position_rad":-0.05613922126042048},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.023437348125566138,"initial_target_rad":-0.00009,"target_minus_position_rad":0.023347348125566138},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.02853681055080957,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.03636681055080957},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.012602192014022736,"initial_target_rad":0.00182,"target_minus_position_rad":-0.010782192014022736},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3229093034231685,"initial_target_rad":0.40246,"target_minus_position_rad":0.0795506965768315},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.15625942857485817,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.10762057142514184},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":-0.0006153000529926349,"initial_target_rad":-0.01781,"target_minus_position_rad":-0.017194699947007366},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8844360103648804,"initial_target_rad":0.83512,"target_minus_position_rad":-0.049316010364880425},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":0.0003976636948278059,"initial_target_rad":0.00008,"target_minus_position_rad":-0.0003176636948278059},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.021567550723105185,"initial_target_rad":-0.00783,"target_minus_position_rad":0.013737550723105185},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":0.024062500046704117,"initial_target_rad":-0.0019,"target_minus_position_rad":-0.025962500046704116}],"upstream_simulated_seconds":0.002,"trace_note":"Simulator clock reset after a warning. Findings use only the valid prefix; the original trace is retained.","valid_trace_samples":4845},{"name":"basketball-0-1004","kind":"nominal","command":[],"seed":1004,"stance":0,"seconds":20,"upright":true,"status":"error","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15691717283555706,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.28463434286117556,"joint_velocity":299031740.0018065,"joint_acceleration":149515870000.88,"actuator_torque":139,"tracking_error":598065.373497525,"target_rate":80,"base_linear_speed":748626.3826075691,"base_angular_speed":6002623.791452867,"contact_force":508083522.9735341},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15691717283555706,"limit":0.146667,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.020000000000000004},{"reason":"joint_torque_limit","time_seconds":0.06600000000000004,"joint":"right_ankle_pitch","value":43.00697017114155,"limit":35,"units":"Nm"},{"reason":"joint_position_target_change_limit","time_seconds":0.12000000000000009,"joint":"left_hip_pitch","value":0.1867721676826477,"limit":0.18,"units":"rad"},{"reason":"joint_position_limit","time_seconds":0.12800000000000009},{"reason":"fall","time_seconds":1.448000000000001},{"reason":"base_angular_speed_limit","time_seconds":1.5420000000000011},{"reason":"joint_velocity_limit","time_seconds":1.7520000000000013,"joint":"left_ankle_pitch","value":12.391812504385342,"limit":9,"units":"rad/s"},{"reason":"joint_velocity_limit","time_seconds":1.8140000000000014,"joint":"left_hip_pitch","value":76.57878312187805,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8400000000000014,"joint":"right_hip_roll","value":9.260144780729902,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8080000000000014,"joint":"right_ankle_pitch","value":214.24006126173973,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8520000000000014,"joint":"right_ankle_roll","value":111.44855693928619,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8280000000000014,"joint":"waist_yaw","value":19.35393310005716,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8260000000000014,"joint":"waist_roll","value":21.172553074421792,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8860000000000015,"joint":"left_elbow","value":118.32947704479867,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8820000000000014,"joint":"left_wrist_pitch","value":366.8910247975329,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.7520000000000013,"joint":"right_shoulder_roll","value":20.737208180724778,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8500000000000014,"joint":"right_elbow","value":47.18566285334902,"limit":9,"units":"rad/s","hold_seconds":0.05}],"error":"RuntimeError: simulator_warning","violent_motion":true,"simulated_seconds":1.8920000000000015,"progress":{"displacement_m":[-0.00401063711845968,0.002469967283168078,0.05158775616337241]},"trace":"traces/00004.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.49933717283555706,"initial_target_rad":-0.34242,"target_minus_position_rad":0.15691717283555706},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.0987190787276579,"initial_target_rad":0.08268,"target_minus_position_rad":-0.01603907872765789},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":-0.02435135808208452,"initial_target_rad":0.0649,"target_minus_position_rad":0.08925135808208452},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7598692782168343,"initial_target_rad":0.64618,"target_minus_position_rad":-0.11368927821683428},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.29033957170852076,"initial_target_rad":-0.21931,"target_minus_position_rad":0.07102957170852076},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.07935443392504091,"initial_target_rad":-0.00307,"target_minus_position_rad":0.0762844339250409},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.1862904595964256,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.1454195404035744},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.11714139995369346,"initial_target_rad":-0.05792,"target_minus_position_rad":0.059221399953693465},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":-0.010585025503431645,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.06153497449656836},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7395692196898238,"initial_target_rad":0.59959,"target_minus_position_rad":-0.13997921968982385},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5484949857469034,"initial_target_rad":-0.1938,"target_minus_position_rad":0.3546949857469034},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.09432251877379332,"initial_target_rad":0.10662,"target_minus_position_rad":0.012297481226206691},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.027559652123353446,"initial_target_rad":-0.00015,"target_minus_position_rad":0.027409652123353445},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":-0.00044718709606100907,"initial_target_rad":-0.00154,"target_minus_position_rad":-0.0010928129039389908},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.012118660018107415,"initial_target_rad":0.03845,"target_minus_position_rad":0.05056866001810741},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.37572679587644386,"initial_target_rad":0.40246,"target_minus_position_rad":0.02673320412355612},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.1932845581687666,"initial_target_rad":0.26385,"target_minus_position_rad":0.07056544183123337},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":0.014670405523370593,"initial_target_rad":0.0178,"target_minus_position_rad":0.0031295944766294072},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.9012556837644607,"initial_target_rad":0.83512,"target_minus_position_rad":-0.06613568376446077},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.016227821681042233,"initial_target_rad":-0.00008,"target_minus_position_rad":-0.016307821681042233},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.015564159873012549,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.02339415987301255},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.00007907244283246135,"initial_target_rad":0.0019,"target_minus_position_rad":0.0018209275571675386},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3411957617803796,"initial_target_rad":0.40258,"target_minus_position_rad":0.06138423821962041},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.20137042789361564,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.05977957210638435},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":-0.02713809427352627,"initial_target_rad":-0.01714,"target_minus_position_rad":0.00999809427352627},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8886805641995753,"initial_target_rad":0.8351,"target_minus_position_rad":-0.05358056419957535},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":0.010666034503619616,"initial_target_rad":0.00009,"target_minus_position_rad":-0.010576034503619616},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.0031270765712446314,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.004702923428755369},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.017114374785776005,"initial_target_rad":-0.00183,"target_minus_position_rad":0.015284374785776005}],"upstream_simulated_seconds":0.002,"trace_note":"Simulator clock reset after a warning. Findings use only the valid prefix; the original trace is retained.","valid_trace_samples":946},{"name":"basketball-1-1005","kind":"nominal","command":[],"seed":1005,"stance":1,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14279315038407367,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.28434156484603884,"joint_velocity":683.003631143689,"joint_acceleration":243800.5028444496,"actuator_torque":139,"tracking_error":10.717165755862489,"target_rate":79.96014404296875,"base_linear_speed":7.8409340070935345,"base_angular_speed":40.52005598169536,"contact_force":36925.81478569723},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14279315038407367,"limit":0.03,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.4365514014598183,"limit":0.146667,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0.020000000000000004,"joint":"left_hip_pitch","value":0.42936912178993225,"limit":0.18,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.032000000000000015,"joint":"left_ankle_pitch","value":48.349841072214936,"limit":35,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.04000000000000002},{"reason":"joint_position_limit","time_seconds":0.08200000000000006},{"reason":"fall","time_seconds":1.372000000000001},{"reason":"base_angular_speed_limit","time_seconds":1.372000000000001},{"reason":"joint_velocity_limit","time_seconds":1.7500000000000013,"joint":"left_ankle_pitch","value":12.1199657584069,"limit":9,"units":"rad/s"},{"reason":"joint_target_position_limit","time_seconds":17.620000000001113,"joint":"left_ankle_roll","value":0.30210596323013306,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":3.1719999999998723,"joint":"left_hip_pitch","value":23.08151325382399,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.219999999999867,"joint":"left_hip_yaw","value":14.998941007497955,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.55999999999961,"joint":"left_ankle_roll","value":18.21892751283344,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.679999999999707,"joint":"right_hip_pitch","value":17.03756492818518,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2259999999998663,"joint":"right_hip_roll","value":12.003165203288354,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.679999999999707,"joint":"right_hip_yaw","value":11.597133613190254,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.7500000000000013,"joint":"right_ankle_pitch","value":19.198890912384222,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8400000000000014,"joint":"right_ankle_roll","value":25.94450185828807,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8560000000000014,"joint":"waist_roll","value":17.2180569229197,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.809999999999692,"joint":"left_shoulder_pitch","value":32.72027681106244,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8080000000000014,"joint":"left_shoulder_roll","value":20.78148778623876,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.803999999999693,"joint":"left_shoulder_yaw","value":21.31382088583287,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2159999999998674,"joint":"left_elbow","value":12.14989137176864,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8560000000000014,"joint":"left_wrist_pitch","value":9.697892723434466,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8620000000000014,"joint":"right_shoulder_pitch","value":34.05539177640263,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8340000000000014,"joint":"right_shoulder_roll","value":32.6619022449894,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.9280000000000015,"joint":"right_shoulder_yaw","value":9.02721272892752,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8560000000000014,"joint":"right_wrist_pitch","value":23.11291463509576,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[4.2139750545672845,-3.105185601358323,-1.481387287801913]},"trace":"traces/00005.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.18882684961592636,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.14279315038407367},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.14699372254331622,"initial_target_rad":0.05807,"target_minus_position_rad":-0.08892372254331622},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":-0.015732958297933773,"initial_target_rad":0.07239,"target_minus_position_rad":0.08812295829793376},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.7281934829172299,"initial_target_rad":0.59945,"target_minus_position_rad":-0.1287434829172298},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5367724365273548,"initial_target_rad":-0.1936,"target_minus_position_rad":0.34317243652735485},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.0832066797928176,"initial_target_rad":-0.10689,"target_minus_position_rad":-0.023683320207182404},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.4897159177545905,"initial_target_rad":-0.34249,"target_minus_position_rad":0.14722591775459049},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.1207117207132773,"initial_target_rad":-0.0825,"target_minus_position_rad":0.0382117207132773},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":0.015659628100093824,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.08021962810009384},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.7576002213939952,"initial_target_rad":0.64634,"target_minus_position_rad":-0.11126022139399516},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.2710444783199786,"initial_target_rad":-0.21937,"target_minus_position_rad":0.05167447831997857},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.0795052511537392,"initial_target_rad":0.00285,"target_minus_position_rad":-0.0766552511537392},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":0.01005732232667476,"initial_target_rad":0.00016,"target_minus_position_rad":-0.00989732232667476},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":-0.000368578104351132,"initial_target_rad":0.00338,"target_minus_position_rad":0.003748578104351132},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.004776235859345924,"initial_target_rad":0.03844,"target_minus_position_rad":0.043216235859345926},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.37503947321526376,"initial_target_rad":0.40258,"target_minus_position_rad":0.02754052678473623},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.19127125302505354,"initial_target_rad":0.26112,"target_minus_position_rad":0.06984874697494647},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":-0.020707147346551154,"initial_target_rad":0.01714,"target_minus_position_rad":0.037847147346551153},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.888880954354563,"initial_target_rad":0.8351,"target_minus_position_rad":-0.05378095435456309},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.01991404966364317,"initial_target_rad":-0.00009,"target_minus_position_rad":-0.02000404966364317},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.0011254773403616167,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.008955477340361617},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":-0.028737738448627655,"initial_target_rad":0.00182,"target_minus_position_rad":0.030557738448627653},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.36921630913648606,"initial_target_rad":0.40246,"target_minus_position_rad":0.03324369086351392},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.15897275362801228,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.10490724637198773},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":-0.0259380655396804,"initial_target_rad":-0.01781,"target_minus_position_rad":0.008128065539680401},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.893407025347041,"initial_target_rad":0.83512,"target_minus_position_rad":-0.058287025347041},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":0.006211815553794207,"initial_target_rad":0.00008,"target_minus_position_rad":-0.006131815553794207},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.0038242480194550688,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.004005751980544932},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":0.024031371508762677,"initial_target_rad":-0.0019,"target_minus_position_rad":-0.025931371508762676}]},{"name":"basketball-0-1006","kind":"nominal","command":[],"seed":1006,"stance":0,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.1367547139856305,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.2711229235649109,"joint_velocity":629.8241501601118,"joint_acceleration":339755.48855213623,"actuator_torque":139,"tracking_error":8.690951799566525,"target_rate":80,"base_linear_speed":9.65282927074693,"base_angular_speed":39.69022966397074,"contact_force":26670.42793195967},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.1367547139856305,"limit":0.03,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.33611025343685486,"limit":0.146667,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.04000000000000002},{"reason":"joint_torque_limit","time_seconds":0.06000000000000004,"joint":"left_ankle_pitch","value":47.43182064984429,"limit":35,"units":"Nm"},{"reason":"joint_position_target_change_limit","time_seconds":0.12000000000000009,"joint":"left_hip_pitch","value":0.20280063152313232,"limit":0.18,"units":"rad"},{"reason":"joint_position_limit","time_seconds":0.5780000000000004},{"reason":"joint_velocity_limit","time_seconds":0.9840000000000008,"joint":"left_ankle_pitch","value":15.0414512118864,"limit":9,"units":"rad/s"},{"reason":"base_angular_speed_limit","time_seconds":1.6780000000000013},{"reason":"fall","time_seconds":1.7360000000000013},{"reason":"joint_target_position_limit","time_seconds":5.1799999999996515,"joint":"left_ankle_roll","value":0.30985334515571594,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":3.753999999999808,"joint":"left_hip_pitch","value":10.704883225944382,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.805999999999362,"joint":"left_hip_roll","value":10.107214117597653,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.841999999999358,"joint":"left_hip_yaw","value":14.02376414822862,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.2239999999999767,"joint":"left_ankle_roll","value":23.864475498321262,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.294000000001294,"joint":"right_hip_pitch","value":9.683679496858062,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":16.40000000000179,"joint":"right_hip_roll","value":9.243236665863463,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.8299999999998,"joint":"right_hip_yaw","value":9.281069802806156,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.0340000000000007,"joint":"right_ankle_pitch","value":18.449571198670977,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.5719999999997185,"joint":"right_ankle_roll","value":17.366530493593473,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":9.159999999999728,"joint":"waist_yaw","value":12.49317528448169,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.631999999999492,"joint":"waist_roll","value":11.81418558453555,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.239999999999975,"joint":"waist_pitch","value":13.921810940519283,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.1879999999999806,"joint":"left_shoulder_pitch","value":24.284907136833027,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.267999999999972,"joint":"left_shoulder_roll","value":12.80170336663968,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.7759999999998057,"joint":"left_shoulder_yaw","value":9.376651693526078,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.2339999999999756,"joint":"left_elbow","value":23.698075369983215,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.817999999999361,"joint":"left_wrist_roll","value":10.64897097543464,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.2439999999999745,"joint":"left_wrist_pitch","value":12.431861468773942,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":9.843999999999957,"joint":"left_wrist_yaw","value":34.21076469544347,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.1879999999999806,"joint":"right_shoulder_pitch","value":21.373506743438913,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.2459999999999742,"joint":"right_shoulder_roll","value":9.113931004790361,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.37400000000125,"joint":"right_shoulder_yaw","value":10.647963820816985,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.691999999999485,"joint":"right_elbow","value":11.822552628402208,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":17.472000000001195,"joint":"right_wrist_roll","value":11.530373217793302,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.437999999999513,"joint":"right_wrist_pitch","value":16.696677121109467,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[0.26696486545356857,-5.547840196974401,-1.1520628033753473]},"trace":"traces/00006.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.4791747139856305,"initial_target_rad":-0.34242,"target_minus_position_rad":0.1367547139856305},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.1269614166279793,"initial_target_rad":0.08268,"target_minus_position_rad":-0.0442814166279793},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":-0.014790122035449469,"initial_target_rad":0.0649,"target_minus_position_rad":0.07969012203544946},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7512843466817344,"initial_target_rad":0.64618,"target_minus_position_rad":-0.1051043466817344},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.2795938086300557,"initial_target_rad":-0.21931,"target_minus_position_rad":0.06028380863005567},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.10947729068828108,"initial_target_rad":-0.00307,"target_minus_position_rad":0.10640729068828107},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.16947359664423084,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.16223640335576917},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.12938385906974942,"initial_target_rad":-0.05792,"target_minus_position_rad":0.07146385906974942},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":0.013451236623288971,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.08557123662328897},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7194067377526614,"initial_target_rad":0.59959,"target_minus_position_rad":-0.11981673775266144},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5352253141403678,"initial_target_rad":-0.1938,"target_minus_position_rad":0.3414253141403678},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.12775193034476026,"initial_target_rad":0.10662,"target_minus_position_rad":-0.021131930344760255},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.025008838802814317,"initial_target_rad":-0.00015,"target_minus_position_rad":0.024858838802814316},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":-0.0020394112647032893,"initial_target_rad":-0.00154,"target_minus_position_rad":0.0004994112647032894},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":0.016096331707490686,"initial_target_rad":0.03845,"target_minus_position_rad":0.022353668292509312},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.319007876524043,"initial_target_rad":0.40246,"target_minus_position_rad":0.08345212347595699},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.17044109094168683,"initial_target_rad":0.26385,"target_minus_position_rad":0.09340890905831314},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":0.022498198499327205,"initial_target_rad":0.0178,"target_minus_position_rad":-0.004698198499327205},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8745051622897876,"initial_target_rad":0.83512,"target_minus_position_rad":-0.03938516228978761},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.028263030092952675,"initial_target_rad":-0.00008,"target_minus_position_rad":-0.028343030092952675},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.021263324856555233,"initial_target_rad":-0.00783,"target_minus_position_rad":0.013433324856555233},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.01733842385220914,"initial_target_rad":0.0019,"target_minus_position_rad":-0.015438423852209138},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3700545529374225,"initial_target_rad":0.40258,"target_minus_position_rad":0.032525447062577484},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.1768458640392274,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.0843041359607726},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":0.0007397343772683798,"initial_target_rad":-0.01714,"target_minus_position_rad":-0.017879734377268378},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8569299678742598,"initial_target_rad":0.8351,"target_minus_position_rad":-0.021829967874259837},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.024924042960100635,"initial_target_rad":0.00009,"target_minus_position_rad":0.025014042960100635},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.019393122772911473,"initial_target_rad":-0.00783,"target_minus_position_rad":0.011563122772911473},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.024723051336428846,"initial_target_rad":-0.00183,"target_minus_position_rad":0.022893051336428848}]},{"name":"basketball-1-1007","kind":"nominal","command":[],"seed":1007,"stance":1,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14213349624765317,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.2850714237213135,"joint_velocity":723.5854216534085,"joint_acceleration":270933.34645602474,"actuator_torque":139,"tracking_error":10.030055296586957,"target_rate":79.9913558959961,"base_linear_speed":9.002760705200512,"base_angular_speed":63.11935307900286,"contact_force":50172.9295553442},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14213349624765317,"limit":0.03,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.23026213764667514,"limit":0.18,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0.002,"joint":"left_hip_yaw","value":0.17240460289376996,"limit":0.146667,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.01,"joint":"right_ankle_pitch","value":45.63604790688143,"limit":35,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.06000000000000004},{"reason":"joint_position_limit","time_seconds":0.36200000000000027},{"reason":"fall","time_seconds":1.5900000000000012},{"reason":"base_angular_speed_limit","time_seconds":1.6500000000000012},{"reason":"joint_velocity_limit","time_seconds":1.8980000000000015,"joint":"right_ankle_pitch","value":27.11977933377471,"limit":9,"units":"rad/s"},{"reason":"joint_target_position_limit","time_seconds":6.239999999999535,"joint":"left_ankle_roll","value":-0.34476280212402344,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":12.422000000000818,"joint":"left_hip_pitch","value":10.351098797245367,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.391999999999472,"joint":"left_hip_yaw","value":10.116447936600593,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.580000000001204,"joint":"left_knee","value":11.661652752786312,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.047999999999996,"joint":"left_ankle_pitch","value":107.39870468866923,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.839999999999909,"joint":"left_ankle_roll","value":19.56997796130795,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.5660000000012,"joint":"right_hip_roll","value":12.101853639521366,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.660000000000897,"joint":"right_hip_yaw","value":9.118339223148542,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.440000000000824,"joint":"right_ankle_roll","value":37.9160670310469,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.680000000001238,"joint":"waist_yaw","value":12.69198904703518,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.462000000000831,"joint":"waist_roll","value":9.038191680153725,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.573999999999388,"joint":"left_shoulder_pitch","value":12.775473620410573,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.9220000000000015,"joint":"left_shoulder_roll","value":14.722590859692051,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.759999999999698,"joint":"left_shoulder_yaw","value":9.474711789079382,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.238000000000422,"joint":"left_elbow","value":11.666152972186644,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.391999999999472,"joint":"left_wrist_roll","value":9.747016443523108,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.889999999999353,"joint":"left_wrist_pitch","value":12.333042165817554,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.5319999999999427,"joint":"left_wrist_yaw","value":21.208841538691455,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.811999999999912,"joint":"right_shoulder_pitch","value":12.454977473101113,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.8980000000000015,"joint":"right_shoulder_roll","value":35.878675097413414,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.299999999999441,"joint":"right_shoulder_yaw","value":11.305647322610543,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.1700000000004,"joint":"right_elbow","value":13.627729032057289,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.033999999999352,"joint":"right_wrist_roll","value":11.030539418442872,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.430000000001154,"joint":"right_wrist_yaw","value":39.562501359236045,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[-8.315256666008624,4.029275903728283,-1.4639063190774175]},"trace":"traces/00007.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.18948650375234685,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.14213349624765317},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.1401188207106766,"initial_target_rad":0.05807,"target_minus_position_rad":-0.08204882071067661},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":0.005605710775119434,"initial_target_rad":0.07239,"target_minus_position_rad":0.06678428922488056},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.7016757146896588,"initial_target_rad":0.59945,"target_minus_position_rad":-0.1022257146896588},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5515308723889998,"initial_target_rad":-0.1936,"target_minus_position_rad":0.3579308723889998},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.08808977090290042,"initial_target_rad":-0.10689,"target_minus_position_rad":-0.01880022909709958},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.4723791484198691,"initial_target_rad":-0.34249,"target_minus_position_rad":0.1298891484198691},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.13866288558400025,"initial_target_rad":-0.0825,"target_minus_position_rad":0.05616288558400025},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":-0.005870579548275846,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.058689420451724164},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.7397775398759637,"initial_target_rad":0.64634,"target_minus_position_rad":-0.0934375398759637},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.2787333876592177,"initial_target_rad":-0.21937,"target_minus_position_rad":0.05936338765921767},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.09836256050672015,"initial_target_rad":0.00285,"target_minus_position_rad":-0.09551256050672015},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":0.018528473422754068,"initial_target_rad":0.00016,"target_minus_position_rad":-0.018368473422754068},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":0.0034403688713446983,"initial_target_rad":0.00338,"target_minus_position_rad":-0.0000603688713446981},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":0.026755562464985973,"initial_target_rad":0.03844,"target_minus_position_rad":0.011684437535014029},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3677698662577322,"initial_target_rad":0.40258,"target_minus_position_rad":0.03481013374226777},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.18296251487789983,"initial_target_rad":0.26112,"target_minus_position_rad":0.07815748512210019},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":-0.017000333482155534,"initial_target_rad":0.01714,"target_minus_position_rad":0.03414033348215553},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8915755595036101,"initial_target_rad":0.8351,"target_minus_position_rad":-0.05647555950361016},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.00983264026277626,"initial_target_rad":-0.00009,"target_minus_position_rad":0.00974264026277626},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.008385252217054651,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.01621525221705465},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.007804905275263927,"initial_target_rad":0.00182,"target_minus_position_rad":-0.005984905275263927},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.36115423022002957,"initial_target_rad":0.40246,"target_minus_position_rad":0.041305769779970414},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.18166216194996446,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.08221783805003555},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":0.01573428852279263,"initial_target_rad":-0.01781,"target_minus_position_rad":-0.033544288522792634},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8932006853613498,"initial_target_rad":0.83512,"target_minus_position_rad":-0.058080685361349804},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":0.014477061324140526,"initial_target_rad":0.00008,"target_minus_position_rad":-0.014397061324140526},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.02160603971097282,"initial_target_rad":-0.00783,"target_minus_position_rad":0.01377603971097282},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.022179859907693344,"initial_target_rad":-0.0019,"target_minus_position_rad":0.020279859907693345}]},{"name":"basketball-0-1008","kind":"nominal","command":[],"seed":1008,"stance":0,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.14693483505672283,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.28480922288894656,"joint_velocity":986.1647923944547,"joint_acceleration":300271.70625170675,"actuator_torque":139,"tracking_error":14.82366011322787,"target_rate":79.9901123046875,"base_linear_speed":20.677205095622572,"base_angular_speed":84.79011301752637,"contact_force":34204.74508582158},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.14693483505672283,"limit":0.146667,"units":"rad"},{"reason":"decoded_target_out_of_range","time_seconds":0.020000000000000004},{"reason":"joint_torque_limit","time_seconds":0.024000000000000007,"joint":"right_ankle_pitch","value":39.53014411562609,"limit":35,"units":"Nm"},{"reason":"joint_position_limit","time_seconds":0.09600000000000007},{"reason":"joint_velocity_limit","time_seconds":0.33600000000000024,"joint":"left_ankle_pitch","value":10.138069538179426,"limit":9,"units":"rad/s"},{"reason":"joint_position_target_change_limit","time_seconds":1.280000000000001,"joint":"left_hip_pitch","value":0.3196861147880554,"limit":0.18,"units":"rad"},{"reason":"fall","time_seconds":1.416000000000001},{"reason":"base_angular_speed_limit","time_seconds":1.5860000000000012},{"reason":"joint_target_position_limit","time_seconds":7.179999999999431,"joint":"left_ankle_roll","value":-0.430703341960907,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":3.935999999999788,"joint":"left_hip_pitch","value":12.23751971477676,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.8979999999997923,"joint":"left_hip_roll","value":24.085380765339863,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.041999999999777,"joint":"left_hip_yaw","value":40.173000358971805,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.8779999999997945,"joint":"left_knee","value":71.66514488456977,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.8759999999997947,"joint":"left_ankle_roll","value":139.34419417257988,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.9579999999997857,"joint":"right_hip_pitch","value":33.27711555712757,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.46799999999995,"joint":"right_hip_roll","value":12.950921005783659,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.965999999999785,"joint":"right_hip_yaw","value":22.29857395625431,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.7440000000000013,"joint":"right_ankle_pitch","value":14.240274991749592,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.909999999999791,"joint":"right_ankle_roll","value":26.554998602642566,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.5179999999997245,"joint":"waist_yaw","value":16.780434617967934,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.01399999999978,"joint":"waist_roll","value":12.47368017213796,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.4819999999999482,"joint":"waist_pitch","value":15.252413910219651,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.9000000000000015,"joint":"left_shoulder_pitch","value":16.67095485226418,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.1700000000000008,"joint":"left_shoulder_roll","value":9.292246772085809,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.6599999999994886,"joint":"left_shoulder_yaw","value":39.82728632869872,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.501999999999946,"joint":"left_elbow","value":18.662273874059828,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.073999999999773,"joint":"left_wrist_roll","value":14.098374160509987,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.5259999999999434,"joint":"left_wrist_pitch","value":19.85046995670668,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.1500000000000008,"joint":"left_wrist_yaw","value":12.864167044291172,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.409999999999516,"joint":"right_shoulder_pitch","value":9.811634622336383,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.7460000000000013,"joint":"right_shoulder_roll","value":19.08745414650451,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.4519999999999516,"joint":"right_shoulder_yaw","value":10.584316635641404,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.7640000000000013,"joint":"right_elbow","value":18.13552265724293,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.291999999999529,"joint":"right_wrist_roll","value":9.835457923313651,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.791999999999364,"joint":"right_wrist_pitch","value":9.27431119361793,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.795999999999363,"joint":"right_wrist_yaw","value":10.747268071948737,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[14.325354048878287,-3.434307773345221,-0.14478986856755838]},"trace":"traces/00008.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.48935483505672284,"initial_target_rad":-0.34242,"target_minus_position_rad":0.14693483505672283},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.13969304486372675,"initial_target_rad":0.08268,"target_minus_position_rad":-0.05701304486372674},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":-0.019614030247145493,"initial_target_rad":0.0649,"target_minus_position_rad":0.08451403024714549},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7960561672729316,"initial_target_rad":0.64618,"target_minus_position_rad":-0.14987616727293163},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.26858870355140757,"initial_target_rad":-0.21931,"target_minus_position_rad":0.049278703551407566},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.07892345869990494,"initial_target_rad":-0.00307,"target_minus_position_rad":0.07585345869990494},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.16988758376091884,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.16182241623908117},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.1494058027819083,"initial_target_rad":-0.05792,"target_minus_position_rad":0.0914858027819083},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":-0.010875286218995583,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.06124471378100442},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7124301480493257,"initial_target_rad":0.59959,"target_minus_position_rad":-0.11284014804932574},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5756617756099822,"initial_target_rad":-0.1938,"target_minus_position_rad":0.38186177560998225},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.09342127613600976,"initial_target_rad":0.10662,"target_minus_position_rad":0.01319872386399025},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.0048189790671737225,"initial_target_rad":-0.00015,"target_minus_position_rad":0.0046689790671737225},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":0.020801969683241935,"initial_target_rad":-0.00154,"target_minus_position_rad":-0.022341969683241935},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.004503203288612016,"initial_target_rad":0.03845,"target_minus_position_rad":0.04295320328861201},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.37091107344754953,"initial_target_rad":0.40246,"target_minus_position_rad":0.03154892655245045},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.17134454153156342,"initial_target_rad":0.26385,"target_minus_position_rad":0.09250545846843655},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":-0.01138892127341279,"initial_target_rad":0.0178,"target_minus_position_rad":0.029188921273412792},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.857428016618773,"initial_target_rad":0.83512,"target_minus_position_rad":-0.02230801661877302},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.01831054248047615,"initial_target_rad":-0.00008,"target_minus_position_rad":-0.01839054248047615},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.013740459532875681,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.02157045953287568},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.012559790043062378,"initial_target_rad":0.0019,"target_minus_position_rad":-0.010659790043062377},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.33303017296036064,"initial_target_rad":0.40258,"target_minus_position_rad":0.06954982703963936},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.18500142061767297,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.07614857938232703},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":-0.008357512008585264,"initial_target_rad":-0.01714,"target_minus_position_rad":-0.008782487991414735},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8551931934470934,"initial_target_rad":0.8351,"target_minus_position_rad":-0.020093193447093483},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.027207715440994467,"initial_target_rad":0.00009,"target_minus_position_rad":0.027297715440994467},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.008626359065341347,"initial_target_rad":-0.00783,"target_minus_position_rad":0.0007963590653413469},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.014140390080987157,"initial_target_rad":-0.00183,"target_minus_position_rad":0.012310390080987157}]},{"name":"basketball-1-1009","kind":"nominal","command":[],"seed":1009,"stance":1,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14125002772320638,"limit":0.03,"units":"rad"},"peaks":{"clipping":0.2850425750732422,"joint_velocity":322.85781642479355,"joint_acceleration":164043.74206319588,"actuator_torque":139,"tracking_error":7.670238619977127,"target_rate":79.4488754272461,"base_linear_speed":7.499146374793889,"base_angular_speed":27.389375140347084,"contact_force":31993.597031053854},"violations":[{"reason":"initial_joint_position_mismatch","time_seconds":0,"joint":"left_hip_pitch","value":0.14125002772320638,"limit":0.03,"units":"rad"},{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.3524265202998055,"limit":0.146667,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0.020000000000000004,"joint":"left_hip_pitch","value":0.4770866334438324,"limit":0.18,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.020000000000000004,"joint":"right_ankle_pitch","value":39.39680322371659,"limit":35,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.04000000000000002},{"reason":"joint_position_limit","time_seconds":0.3980000000000003},{"reason":"joint_velocity_limit","time_seconds":0.8940000000000007,"joint":"left_wrist_yaw","value":10.950869627073926,"limit":9,"units":"rad/s"},{"reason":"fall","time_seconds":0.9920000000000008},{"reason":"base_angular_speed_limit","time_seconds":1.1360000000000008},{"reason":"joint_target_position_limit","time_seconds":3.999999999999781,"joint":"left_ankle_roll","value":-0.28637921810150146,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":17.098000000001402,"joint":"left_hip_yaw","value":9.275810550598871,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.117999999999878,"joint":"left_ankle_pitch","value":29.88527638356052,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":2.1259999999999875,"joint":"left_ankle_roll","value":12.857799671638304,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":15.248000000001761,"joint":"right_knee","value":16.684263293415274,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.995999999999672,"joint":"right_ankle_pitch","value":10.353783120045415,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":15.288000000001775,"joint":"right_ankle_roll","value":32.652141592220595,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":14.348000000001461,"joint":"waist_roll","value":14.626479569933771,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":10.886000000000305,"joint":"left_shoulder_pitch","value":10.317712419204556,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.003999999999781,"joint":"left_shoulder_roll","value":9.422177718315611,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.391999999999518,"joint":"left_shoulder_yaw","value":10.770235746142824,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":10.846000000000291,"joint":"left_elbow","value":30.35784268995209,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.99800000000101,"joint":"left_wrist_roll","value":11.105792961690714,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":10.880000000000303,"joint":"left_wrist_pitch","value":9.304714921397201,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.488000000000001,"joint":"right_shoulder_pitch","value":14.199015079926614,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.001999999999891,"joint":"right_shoulder_roll","value":9.703511652355257,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":14.140000000001391,"joint":"right_shoulder_yaw","value":12.300134734539405,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":5.495999999999617,"joint":"right_elbow","value":10.712028987652483,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":15.248000000001761,"joint":"right_wrist_roll","value":12.779260853195334,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.667999999999564,"joint":"right_wrist_pitch","value":12.582326095394796,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.10399999999955,"joint":"right_wrist_yaw","value":53.19848887982051,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[-0.5253154100336388,-2.241719521626772,-1.2115021918723363]},"trace":"traces/00009.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.19036997227679364,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.14125002772320638},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.11077493526037172,"initial_target_rad":0.05807,"target_minus_position_rad":-0.05270493526037172},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":-0.029978912275608106,"initial_target_rad":0.07239,"target_minus_position_rad":0.1023689122756081},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.7067595851055795,"initial_target_rad":0.59945,"target_minus_position_rad":-0.10730958510557942},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5373092476513549,"initial_target_rad":-0.1936,"target_minus_position_rad":0.3437092476513549},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.10527135101825241,"initial_target_rad":-0.10689,"target_minus_position_rad":-0.0016186489817475863},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.4657105725300899,"initial_target_rad":-0.34249,"target_minus_position_rad":0.12322057253008989},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.12064202698426568,"initial_target_rad":-0.0825,"target_minus_position_rad":0.03814202698426568},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":-0.025660477375257642,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.03889952262474236},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.746335720593935,"initial_target_rad":0.64634,"target_minus_position_rad":-0.09999572059393502},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.2718022820589356,"initial_target_rad":-0.21937,"target_minus_position_rad":0.052432282058935575},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.07269510287498926,"initial_target_rad":0.00285,"target_minus_position_rad":-0.06984510287498925},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":0.015349131695557221,"initial_target_rad":0.00016,"target_minus_position_rad":-0.015189131695557221},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":-0.013828861251303405,"initial_target_rad":0.00338,"target_minus_position_rad":0.017208861251303404},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.014902770244969513,"initial_target_rad":0.03844,"target_minus_position_rad":0.053342770244969515},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.355698733110467,"initial_target_rad":0.40258,"target_minus_position_rad":0.04688126688953298},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.19232475533911622,"initial_target_rad":0.26112,"target_minus_position_rad":0.0687952446608838},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":-0.001404198895636912,"initial_target_rad":0.01714,"target_minus_position_rad":0.01854419889563691},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8571872180990695,"initial_target_rad":0.8351,"target_minus_position_rad":-0.02208721809906955},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.01064668024924937,"initial_target_rad":-0.00009,"target_minus_position_rad":0.01055668024924937},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.028984031895026973,"initial_target_rad":-0.00783,"target_minus_position_rad":0.021154031895026973},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":-0.0062075473710966125,"initial_target_rad":0.00182,"target_minus_position_rad":0.008027547371096613},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.36200037255151735,"initial_target_rad":0.40246,"target_minus_position_rad":0.04045962744848264},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.147279315011985,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.11660068498801501},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":-0.0034402371878642134,"initial_target_rad":-0.01781,"target_minus_position_rad":-0.014369762812135787},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8977035170634522,"initial_target_rad":0.83512,"target_minus_position_rad":-0.06258351706345222},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.012074323741117297,"initial_target_rad":0.00008,"target_minus_position_rad":0.012154323741117298},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.006328278574777229,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.014158278574777229},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":0.0013330799183018415,"initial_target_rad":-0.0019,"target_minus_position_rad":-0.0032330799183018415}]},{"name":"basketball-0-1010","kind":"nominal","command":[],"seed":1010,"stance":0,"seconds":20,"upright":true,"status":"error","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15127046302230562,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.2847897917747498,"joint_velocity":3090032.1983875907,"joint_acceleration":1545399442.8424013,"actuator_torque":139,"tracking_error":6172.231252582481,"target_rate":79.99993896484375,"base_linear_speed":299901.16776337015,"base_angular_speed":580150.7990446163,"contact_force":46917.75985831191},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15127046302230562,"limit":0.146667,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.024000000000000007,"joint":"left_knee","value":139.2547673058816,"limit":139,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.06000000000000004},{"reason":"joint_position_limit","time_seconds":0.07200000000000005},{"reason":"joint_position_target_change_limit","time_seconds":0.10000000000000007,"joint":"left_hip_pitch","value":0.48425009846687317,"limit":0.18,"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":0.34800000000000025,"joint":"left_ankle_pitch","value":13.279388901853089,"limit":9,"units":"rad/s"},{"reason":"fall","time_seconds":0.7000000000000005},{"reason":"base_angular_speed_limit","time_seconds":0.7860000000000006},{"reason":"joint_velocity_limit","time_seconds":1.7540000000000013,"joint":"left_hip_yaw","value":11.79058912447518,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.247999999999864,"joint":"left_knee","value":19.25287486746036,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.247999999999864,"joint":"left_ankle_roll","value":16.00440656482619,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.615999999999714,"joint":"right_hip_roll","value":11.737992286455995,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.1400000000000008,"joint":"right_ankle_pitch","value":12.65043519363167,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.227999999999866,"joint":"right_ankle_roll","value":18.669936520856375,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2239999999998665,"joint":"waist_yaw","value":9.422539005343385,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2719999999998612,"joint":"waist_roll","value":11.230570238919332,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.0580000000000007,"joint":"left_shoulder_pitch","value":23.352154313775987,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.971999999999784,"joint":"left_shoulder_roll","value":10.08209620410633,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.683999999999706,"joint":"left_shoulder_yaw","value":79.40096390942723,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2439999999998643,"joint":"left_elbow","value":26.119734181222714,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":4.619999999999713,"joint":"left_wrist_pitch","value":38.69860870905311,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.440000000000001,"joint":"left_wrist_yaw","value":10.393196211512402,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.1959999999998696,"joint":"right_shoulder_pitch","value":39.66599375814266,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":1.2340000000000009,"joint":"right_shoulder_roll","value":12.247023306489448,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":3.2719999999998612,"joint":"right_elbow","value":19.5298256549565,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":0.6020000000000004,"joint":"right_wrist_yaw","value":31.137868888046658,"limit":9,"units":"rad/s","hold_seconds":0.05}],"error":"RuntimeError: simulator_warning","violent_motion":true,"simulated_seconds":4.693999999999705,"progress":{"displacement_m":[-0.00401063711845968,0.002469967283168078,0.05158775616337241]},"trace":"traces/00010.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.46939,"starting_position_rad":-0.4936904630223056,"initial_target_rad":-0.34242,"target_minus_position_rad":0.15127046302230562},{"joint":"left_hip_roll","stance_position_rad":0.12091,"starting_position_rad":0.12305834387421062,"initial_target_rad":0.08268,"target_minus_position_rad":-0.04037834387421062},{"joint":"left_hip_yaw","stance_position_rad":-0.00266,"starting_position_rad":0.022400603986807644,"initial_target_rad":0.0649,"target_minus_position_rad":0.04249939601319236},{"joint":"left_knee","stance_position_rad":0.76703,"starting_position_rad":0.7959179509333282,"initial_target_rad":0.64618,"target_minus_position_rad":-0.1497379509333282},{"joint":"left_ankle_pitch","stance_position_rad":-0.29758,"starting_position_rad":-0.2766508276512583,"initial_target_rad":-0.21931,"target_minus_position_rad":0.05734082765125831},{"joint":"left_ankle_roll","stance_position_rad":-0.09958,"starting_position_rad":-0.08481130864225626,"initial_target_rad":-0.00307,"target_minus_position_rad":0.08174130864225626},{"joint":"right_hip_pitch","stance_position_rad":-0.16382,"starting_position_rad":-0.16925470109976257,"initial_target_rad":-0.33171,"target_minus_position_rad":-0.16245529890023744},{"joint":"right_hip_roll","stance_position_rad":-0.12077,"starting_position_rad":-0.11687510407279936,"initial_target_rad":-0.05792,"target_minus_position_rad":0.05895510407279936},{"joint":"right_hip_yaw","stance_position_rad":0.00296,"starting_position_rad":-0.022005585551290834,"initial_target_rad":-0.07212,"target_minus_position_rad":-0.05011441444870917},{"joint":"right_knee","stance_position_rad":0.72007,"starting_position_rad":0.7288837895484116,"initial_target_rad":0.59959,"target_minus_position_rad":-0.12929378954841164},{"joint":"right_ankle_pitch","stance_position_rad":-0.557,"starting_position_rad":-0.5713315722079723,"initial_target_rad":-0.1938,"target_minus_position_rad":0.3775315722079723},{"joint":"right_ankle_roll","stance_position_rad":0.11144,"starting_position_rad":0.13385198834604817,"initial_target_rad":0.10662,"target_minus_position_rad":-0.02723198834604816},{"joint":"waist_yaw","stance_position_rad":0.00001,"starting_position_rad":-0.027581224444789512,"initial_target_rad":-0.00015,"target_minus_position_rad":0.02743122444478951},{"joint":"waist_roll","stance_position_rad":0.00006,"starting_position_rad":0.029524712406248706,"initial_target_rad":-0.00154,"target_minus_position_rad":-0.031064712406248706},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":0.009988324444139666,"initial_target_rad":0.03845,"target_minus_position_rad":0.028461675555860332},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3686806075546114,"initial_target_rad":0.40246,"target_minus_position_rad":0.03377939244538858},{"joint":"left_shoulder_roll","stance_position_rad":0.17651,"starting_position_rad":0.1890970180652484,"initial_target_rad":0.26385,"target_minus_position_rad":0.07475298193475158},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00074,"starting_position_rad":-0.026554652085937717,"initial_target_rad":0.0178,"target_minus_position_rad":0.04435465208593772},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8483269904656012,"initial_target_rad":0.83512,"target_minus_position_rad":-0.013206990465601254},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.019835527899211784,"initial_target_rad":-0.00008,"target_minus_position_rad":0.019755527899211783},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":0.02867020201470812,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.03650020201470812},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.0233657789315543,"initial_target_rad":0.0019,"target_minus_position_rad":-0.0214657789315543},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3243951522934423,"initial_target_rad":0.40258,"target_minus_position_rad":0.0781848477065577},{"joint":"right_shoulder_roll","stance_position_rad":-0.17662,"starting_position_rad":-0.2051109466282656,"initial_target_rad":-0.26115,"target_minus_position_rad":-0.0560390533717344},{"joint":"right_shoulder_yaw","stance_position_rad":0.00071,"starting_position_rad":-0.009858200891892549,"initial_target_rad":-0.01714,"target_minus_position_rad":-0.00728179910810745},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8659333614401054,"initial_target_rad":0.8351,"target_minus_position_rad":-0.0308333614401054},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.014222597041132157,"initial_target_rad":0.00009,"target_minus_position_rad":0.014312597041132157},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.022782551252244748,"initial_target_rad":-0.00783,"target_minus_position_rad":0.014952551252244747},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":-0.024572448256653116,"initial_target_rad":-0.00183,"target_minus_position_rad":0.022742448256653114}],"upstream_simulated_seconds":0.002,"trace_note":"Simulator clock reset after a warning. Findings use only the valid prefix; the original trace is retained.","valid_trace_samples":2347},{"name":"basketball-1-1011","kind":"nominal","command":[],"seed":1011,"stance":1,"seconds":20,"upright":true,"status":"violation","first_violation":{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15490749042102622,"limit":0.146667,"units":"rad"},"peaks":{"clipping":0.2836288721084595,"joint_velocity":311.9410511187663,"joint_acceleration":159046.13538378544,"actuator_torque":139,"tracking_error":5.474016956119698,"target_rate":79.94239807128906,"base_linear_speed":4.901926367394163,"base_angular_speed":30.217107821833352,"contact_force":16320.611260924285},"violations":[{"reason":"joint_tracking_error_limit","time_seconds":0,"joint":"left_hip_pitch","value":0.15490749042102622,"limit":0.146667,"units":"rad"},{"reason":"joint_position_target_change_limit","time_seconds":0.020000000000000004,"joint":"left_hip_pitch","value":0.2021014392375946,"limit":0.18,"units":"rad"},{"reason":"joint_torque_limit","time_seconds":0.020000000000000004,"joint":"left_ankle_pitch","value":65.5166282516545,"limit":35,"units":"Nm"},{"reason":"decoded_target_out_of_range","time_seconds":0.06000000000000004},{"reason":"joint_position_limit","time_seconds":0.12000000000000009},{"reason":"joint_velocity_limit","time_seconds":0.8700000000000007,"joint":"left_elbow","value":13.568515275830181,"limit":9,"units":"rad/s"},{"reason":"fall","time_seconds":6.307999999999527},{"reason":"base_angular_speed_limit","time_seconds":6.543999999999501},{"reason":"joint_target_position_limit","time_seconds":6.8599999999994665,"joint":"left_ankle_roll","value":-0.3686002194881439,"limit":[-0.2618,0.2618],"units":"rad"},{"reason":"joint_velocity_limit","time_seconds":13.338000000001124,"joint":"left_hip_yaw","value":10.04812739981777,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":7.953999999999346,"joint":"left_ankle_pitch","value":17.877806405996544,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.026000000000685,"joint":"left_ankle_roll","value":19.97658876989409,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":8.7759999999996,"joint":"right_ankle_pitch","value":9.308436460988673,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.496000000001176,"joint":"right_ankle_roll","value":12.202694301640147,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":14.296000000001444,"joint":"waist_roll","value":12.649505807332606,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":16.730000000001606,"joint":"waist_pitch","value":10.360059903213862,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.797999999999473,"joint":"left_shoulder_pitch","value":13.03755057515849,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":6.731999999999481,"joint":"left_shoulder_roll","value":9.036286868699793,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.548000000001194,"joint":"left_shoulder_yaw","value":10.075827891954624,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":11.994000000000675,"joint":"right_shoulder_pitch","value":15.930113469225983,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":15.040000000001692,"joint":"right_shoulder_roll","value":15.791616862235655,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":13.730000000001255,"joint":"right_shoulder_yaw","value":10.590507784723803,"limit":9,"units":"rad/s","hold_seconds":0.05},{"reason":"joint_velocity_limit","time_seconds":12.016000000000682,"joint":"right_elbow","value":10.8698033551735,"limit":9,"units":"rad/s","hold_seconds":0.05}],"violent_motion":true,"simulated_seconds":19.999999999999794,"progress":{"displacement_m":[0.16619935839125238,0.7470172949605871,-1.4964224619086293]},"trace":"traces/00011.npz","startup":[{"joint":"left_hip_pitch","stance_position_rad":-0.16376,"starting_position_rad":-0.1767125095789738,"initial_target_rad":-0.33162,"target_minus_position_rad":-0.15490749042102622},{"joint":"left_hip_roll","stance_position_rad":0.12116,"starting_position_rad":0.12495941213056373,"initial_target_rad":0.05807,"target_minus_position_rad":-0.06688941213056374},{"joint":"left_hip_yaw","stance_position_rad":-0.00297,"starting_position_rad":-0.020213991920760614,"initial_target_rad":0.07239,"target_minus_position_rad":0.0926039919207606},{"joint":"left_knee","stance_position_rad":0.71988,"starting_position_rad":0.6948023388493,"initial_target_rad":0.59945,"target_minus_position_rad":-0.09535233884929994},{"joint":"left_ankle_pitch","stance_position_rad":-0.55686,"starting_position_rad":-0.5806915001836676,"initial_target_rad":-0.1936,"target_minus_position_rad":0.38709150018366756},{"joint":"left_ankle_roll","stance_position_rad":-0.11181,"starting_position_rad":-0.11795018728794712,"initial_target_rad":-0.10689,"target_minus_position_rad":0.011060187287947124},{"joint":"right_hip_pitch","stance_position_rad":-0.46945,"starting_position_rad":-0.4743048217088838,"initial_target_rad":-0.34249,"target_minus_position_rad":0.13181482170888376},{"joint":"right_hip_roll","stance_position_rad":-0.12052,"starting_position_rad":-0.09157511185700556,"initial_target_rad":-0.0825,"target_minus_position_rad":0.00907511185700556},{"joint":"right_hip_yaw","stance_position_rad":0.00265,"starting_position_rad":0.03185687085621691,"initial_target_rad":-0.06456,"target_minus_position_rad":-0.09641687085621692},{"joint":"right_knee","stance_position_rad":0.7672,"starting_position_rad":0.7681938200760968,"initial_target_rad":0.64634,"target_minus_position_rad":-0.1218538200760968},{"joint":"right_ankle_pitch","stance_position_rad":-0.29772,"starting_position_rad":-0.32586110181354555,"initial_target_rad":-0.21937,"target_minus_position_rad":0.10649110181354554},{"joint":"right_ankle_roll","stance_position_rad":0.09927,"starting_position_rad":0.09139408791291072,"initial_target_rad":0.00285,"target_minus_position_rad":-0.08854408791291071},{"joint":"waist_yaw","stance_position_rad":-0.00001,"starting_position_rad":-0.0006534747960355099,"initial_target_rad":0.00016,"target_minus_position_rad":0.0008134747960355099},{"joint":"waist_roll","stance_position_rad":-0.00014,"starting_position_rad":0.010132557125796528,"initial_target_rad":0.00338,"target_minus_position_rad":-0.006752557125796528},{"joint":"waist_pitch","stance_position_rad":-0.0016,"starting_position_rad":-0.03146641342027541,"initial_target_rad":0.03844,"target_minus_position_rad":0.06990641342027541},{"joint":"left_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.3686058109195909,"initial_target_rad":0.40258,"target_minus_position_rad":0.03397418908040911},{"joint":"left_shoulder_roll","stance_position_rad":0.17662,"starting_position_rad":0.16153655944627948,"initial_target_rad":0.26112,"target_minus_position_rad":0.09958344055372054},{"joint":"left_shoulder_yaw","stance_position_rad":-0.00071,"starting_position_rad":-0.021507959863031178,"initial_target_rad":0.01714,"target_minus_position_rad":0.03864795986303118},{"joint":"left_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8719092737033086,"initial_target_rad":0.8351,"target_minus_position_rad":-0.036809273703308665},{"joint":"left_wrist_roll","stance_position_rad":0,"starting_position_rad":0.006320183397572746,"initial_target_rad":-0.00009,"target_minus_position_rad":-0.006410183397572745},{"joint":"left_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.02897247337213442,"initial_target_rad":-0.00783,"target_minus_position_rad":0.02114247337213442},{"joint":"left_wrist_yaw","stance_position_rad":-0.00008,"starting_position_rad":0.013825821805510136,"initial_target_rad":0.00182,"target_minus_position_rad":-0.012005821805510136},{"joint":"right_shoulder_pitch","stance_position_rad":0.34781,"starting_position_rad":0.32605392600008315,"initial_target_rad":0.40246,"target_minus_position_rad":0.07640607399991683},{"joint":"right_shoulder_roll","stance_position_rad":-0.17651,"starting_position_rad":-0.16972699844557385,"initial_target_rad":-0.26388,"target_minus_position_rad":-0.09415300155442616},{"joint":"right_shoulder_yaw","stance_position_rad":0.00074,"starting_position_rad":-0.006569747049613575,"initial_target_rad":-0.01781,"target_minus_position_rad":-0.011240252950386425},{"joint":"right_elbow","stance_position_rad":0.87145,"starting_position_rad":0.8802201217189541,"initial_target_rad":0.83512,"target_minus_position_rad":-0.04510012171895417},{"joint":"right_wrist_roll","stance_position_rad":0,"starting_position_rad":-0.026649360391005253,"initial_target_rad":0.00008,"target_minus_position_rad":0.026729360391005253},{"joint":"right_wrist_pitch","stance_position_rad":0.00033,"starting_position_rad":-0.0010536524258052894,"initial_target_rad":-0.00783,"target_minus_position_rad":-0.006776347574194711},{"joint":"right_wrist_yaw","stance_position_rad":0.00008,"starting_position_rad":0.010106606680186387,"initial_target_rad":-0.0019,"target_minus_position_rad":-0.012006606680186388}]}],"scenario_summary":[{"scenario":"basketball-0-1000","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":1,"skipped":0},{"scenario":"basketball-1-1001","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":1,"skipped":0},{"scenario":"basketball-0-1002","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-1-1003","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":1,"skipped":0},{"scenario":"basketball-0-1004","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":1,"skipped":0},{"scenario":"basketball-1-1005","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-0-1006","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-1-1007","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-0-1008","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-1-1009","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0},{"scenario":"basketball-0-1010","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":1,"skipped":0},{"scenario":"basketball-1-1011","total":1,"problems":1,"warnings":1,"limits":1,"misses":1,"flailing":1,"falls":1,"other":0,"errors":0,"skipped":0}],"hashes":{"model":{"policy_weights.npz":"804ce63ae116c93725b9b1eaa5140d8f31b8ea524cf6e76b9f9d7a301ea8e7d0"},"profile":"706da2e5fdad13f0b0ca275b5c69a32f9168eb99709ea7bd0bf5ca56d176e158","joint_profile":"b03265559cc7c5735623db5f4835c3491a79c2acb8607e9a962d7b8d29b6dfed","robot_config":"69173e033051c90013eb2a2d865050ad804bf98124b806323a960d26ab9e0d71","robot_assets":{"assets/ball_calibration.json":"f674e0243166251398f680967e90dd643a48b2ec6cdcc7d9221da226e45ee2b6","assets/cradle_pose.json":"a02a960f5eafd2be1e8a3d8467fa74c9ff9726a80957780ca7d9c1df62c698f6","assets/g1_dribble_scene.xml":"5b9262f396d6ec85f1b630ec030aa29b54d31aba3dcf46d2b06ed62d6e7b3b4a","assets/g1_dribble_scene_noself.xml":"faa06a4488eb1dd1d5c649be4ad52a7d5811577cdaf8d6c78d4afcc92cb28ba3","assets/g1_robot.xml":"82c139887531cae2fafce0c4217f1771de8dd4f0be81734bd09cc254ad76a27b","assets/stance.json":"6bdb0668229ad967adf793a8dfaa81122be9b7cd146be236ef82a077905fe485","assets/urdf_verification.json":"9333fd8a9f0b1ab70249730a69fd6f4b4326212c802a83521332637a89460f2c","assets/assets/basketball.png":"5cf88202dbe4bd6d3970cf19decba886f806103ca9ba4c33c77dd6f5697e43e5","assets/assets/g1/head_link.STL":"005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411","assets/assets/g1/left_ankle_pitch_link.STL":"d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d","assets/assets/g1/left_ankle_roll_link.STL":"c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f","assets/assets/g1/left_elbow_link.STL":"fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3","assets/assets/g1/left_hip_pitch_link.STL":"4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4","assets/assets/g1/left_hip_roll_link.STL":"91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf","assets/assets/g1/left_hip_yaw_link.STL":"a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b","assets/assets/g1/left_knee_link.STL":"8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477","assets/assets/g1/left_rubber_hand.STL":"cff2221a690fa69303f61fce68f2d155c1517b52efb6ca9262dd56e0bc6e70fe","assets/assets/g1/left_shoulder_pitch_link.STL":"f0d1cfd02fcf0d42f95e678eeca33da3afbcc366ffba5c052847773ec4f31d52","assets/assets/g1/left_shoulder_roll_link.STL":"fb9df21687773522598dc384f1a2945c7519f11cbc8bd372a49170316d6eee88","assets/assets/g1/left_shoulder_yaw_link.STL":"1aa97e9748e924336567992181f78c7cd0652fd52a4afcca3df6b2ef6f9e712e","assets/assets/g1/left_wrist_pitch_link.STL":"b251d8e05047f695d0f536cd78c11973cfa4e78d08cfe82759336cc3471de3a9","assets/assets/g1/left_wrist_roll_link.STL":"edc387c9a0ba8c2237e9b296d32531426fabeb6f53e58df45c76106bca74148c","assets/assets/g1/left_wrist_yaw_link.STL":"83f8fb3a726bf9613d65dd14f0f447cb918c3c95b3938042a0c9c09749267d3b","assets/assets/g1/logo_link.STL":"8571a0a19bc4916fa55f91449f51d5fdefd751000054865a842449429d5f155b","assets/assets/g1/pelvis.STL":"5ba6bbc888e630550140d3c26763f10206da8c8bd30ed886b8ede41c61f57a31","assets/assets/g1/pelvis_contour_link.STL":"5cc5c2c7a312329e3feeb2b03d3fc09fc29705bd01864f6767e51be959662420","assets/assets/g1/right_ankle_pitch_link.STL":"15be426539ec1be70246d4d82a168806db64a41301af8b35c197a33348c787a9","assets/assets/g1/right_ankle_roll_link.STL":"4b66222ea56653e627711b56d0a8949b4920da5df091da0ceb343f54e884e3a5","assets/assets/g1/right_elbow_link.STL":"1be925d7aa268bb8fddf5362b9173066890c7d32092c05638608126e59d1e2ab","assets/assets/g1/right_hip_pitch_link.STL":"e4f3c99d7f4a7d34eadbef9461fc66e3486cb5442db1ec50c86317d459f1a9c6","assets/assets/g1/right_hip_roll_link.STL":"4c254ef66a356f492947f360dd931965477b631e3fcc841f91ccc46d945d54f6","assets/assets/g1/right_hip_yaw_link.STL":"e479c2936ca2057e9eb2f7dff6c189b7419d7b8484dea0b298cbb36a2a6aa668","assets/assets/g1/right_knee_link.STL":"63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8","assets/assets/g1/right_rubber_hand.STL":"99533b778bca6246144fa511bb9d4e555e075c641f2a0251e04372869cd99d67","assets/assets/g1/right_shoulder_pitch_link.STL":"24cdb387e0128dfe602770a81c56cdce3a0181d34d039a11d1aaf8819b7b8c02","assets/assets/g1/right_shoulder_roll_link.STL":"962b97c48f9ce9e8399f45dd9522e0865d19aa9fd299406b2d475a8fc4a53e81","assets/assets/g1/right_shoulder_yaw_link.STL":"a0b76489271da0c72461a344c9ffb0f0c6e64f019ea5014c1624886c442a2fe5","assets/assets/g1/right_wrist_pitch_link.STL":"d22f8f3b3127f15a63e5be1ee273cd5075786c3142f1c3d9f76cbf43d2a26477","assets/assets/g1/right_wrist_roll_link.STL":"a7ee9212ff5b94d6cb7f52bb1bbf3f352194d5b598acff74f4c77d340c5b344f","assets/assets/g1/right_wrist_yaw_link.STL":"bc9dece2d12509707e0057ba2e48df8f3d56db0c79410212963a25e8a50f61a6","assets/assets/g1/torso_link_rev_1_0.STL":"11ddb46f2098efbbd8816b1d65893632d8e78be936376c7cdcd6771899ccc723","assets/assets/g1/waist_roll_link_rev_1_0.STL":"b67c347a05abc3e8ddae600d98a082bee273bb39f8e651647708b0a7140a8a97","assets/assets/g1/waist_yaw_link_rev_1_0.STL":"ec6db442b11f25eed898b5add07940c85d804f300de24dcbd264ccd8be7d554c","assets/provenance/g1_29dof_rev_1_0.urdf":"4aa267edc4eb2458f43c15efb4a29590006112fa188005e8c5a79867f46eb629","assets/provenance/g1_29dof_rev_1_0.xml":"165fa7a5275745e45fa25e1bc78010c1055d81bb81c013b3c7bc8b9347a3b9c3","assets/provenance/README.md":"252ede83ad02829c216f7c1beeeccd334674b9d5553f3ba7913178a5bae6fb54","assets/provenance/unitree_rl_mjlab_g1.xml":"56539bc76eadb05dd439c47de94df52130ea8fa243d08bdddd9cbc32dd4c78a0"},"implementation":{"legacy_tracker.py":"ad19b9b9d0c8696ea3fd52748f6695c8cbbf4dd86caa4a2346c678ecdf9b16d0","screen.py":"f33a0d93d95d51b9b3aff133883060816498fc7cf40c2d8cec1036a857a109c7","simulation.py":"25bd0efd99dea4f67b508a92f7efa1961f93192e096f74b99522a169f5dde423","__init__.py":"62fd1bb36061e23266a4f1e4769ef709f8f53c1f9fac344c9c42b5c0d865cf84","policy.py":"fb97f486c3d4036947fd30f3cd97e57b39f3fb449742651809a9ea03f83ff293"},"upstream_evaluation":"44b644281440d4be7a0410aa6a0127871628bb47802e34d18195a0a135ca52c4","shared_joint_checks":"3c92acc9aa16573163b2b81773ce1d16095c5a84a0bc8141a2c905ca4d00b730"},"versions":{"package":"0.1.0","mujoco":"3.3.7","numpy":"2.5.3"},"acceptance_checks":{"calibrated":false,"metrics_without_thresholds":["base_angular_speed","base_linear_speed","contact_force","joint_acceleration","joint_velocity","target_rate","tracking_error"],"note":"Simulation continues after findings to capture motion. Findings do not authorize hardware. Ball state is simulated and delayed; the vision detector is not tested."},"evaluation_context":{"version":1,"simulator":"MuJoCo 3.3.7 / CPU","submitted_mujoco_version":"3.12.0","reference_files":{"requirements-eval.txt":"6f16336fc0e3e73de4158857dd663a5801c7c22a0de3df354c84f290cec01558","evaluate_mjx.py":"89d974cf15fabd23cb6fe228973e1c850de7ef4b205e2a299133e5051b459fa3","dribble_env.py":"878169f8105414ca6da8af4e94fe66c118e0fefb2ea60e02364a7e8062dd37e6"},"gains_source":"Compiled assets/g1_robot.xml from this upload. No reference-profile gain override or gain randomization.","control_seconds":0.02,"physics_seconds":0.002,"ball_observation_delay_steps":1,"action_delay_steps":0,"ball_respawn":false,"camera_tested":false,"startup_note":"Joint positions start at the authored stance qpos plus uniform ±0.03 rad noise. The initial motor target is the authored stance ctrl. qpos and ctrl are distinct; their difference is not an injected pose offset or a trained-policy action. The local 0.03 rad handover check compares target with measured position.","limits_note":"Position and effort bounds come from the Unitree G1 revision-1 URDF. The 9 rad/s speed cap, 50 ms hold, 0.03 rad startup tolerance and tracking allowances are local provisional settings, not manufacturer-certified safety limits. Leg tracking allowances use 0.25 × effort / reference kp; actual PD demand uses the simulation gains shown here. Model torque clamps can differ from screening effort limits.","joints":[{"joint":"left_hip_pitch","kp":40.1792,"kd":2.5579,"model_torque_min_nm":-88,"model_torque_max_nm":88,"screening_torque_nm":88,"screening_speed_rad_s":9,"tracking_error_rad":0.146667,"reference_kp":150,"reference_kd":2},{"joint":"left_hip_roll","kp":99.0984,"kd":6.3088,"model_torque_min_nm":-139,"model_torque_max_nm":139,"screening_torque_nm":139,"screening_speed_rad_s":9,"tracking_error_rad":0.231667,"reference_kp":150,"reference_kd":2},{"joint":"left_hip_yaw","kp":40.1792,"kd":2.5579,"model_torque_min_nm":-88,"model_torque_max_nm":88,"screening_torque_nm":88,"screening_speed_rad_s":9,"tracking_error_rad":0.146667,"reference_kp":150,"reference_kd":2},{"joint":"left_knee","kp":99.0984,"kd":6.3088,"model_torque_min_nm":-139,"model_torque_max_nm":139,"screening_torque_nm":139,"screening_speed_rad_s":9,"tracking_error_rad":0.17375,"reference_kp":200,"reference_kd":4},{"joint":"left_ankle_pitch","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.21875,"reference_kp":40,"reference_kd":2},{"joint":"left_ankle_roll","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.21875,"reference_kp":40,"reference_kd":2},{"joint":"right_hip_pitch","kp":40.1792,"kd":2.5579,"model_torque_min_nm":-88,"model_torque_max_nm":88,"screening_torque_nm":88,"screening_speed_rad_s":9,"tracking_error_rad":0.146667,"reference_kp":150,"reference_kd":2},{"joint":"right_hip_roll","kp":99.0984,"kd":6.3088,"model_torque_min_nm":-139,"model_torque_max_nm":139,"screening_torque_nm":139,"screening_speed_rad_s":9,"tracking_error_rad":0.231667,"reference_kp":150,"reference_kd":2},{"joint":"right_hip_yaw","kp":40.1792,"kd":2.5579,"model_torque_min_nm":-88,"model_torque_max_nm":88,"screening_torque_nm":88,"screening_speed_rad_s":9,"tracking_error_rad":0.146667,"reference_kp":150,"reference_kd":2},{"joint":"right_knee","kp":99.0984,"kd":6.3088,"model_torque_min_nm":-139,"model_torque_max_nm":139,"screening_torque_nm":139,"screening_speed_rad_s":9,"tracking_error_rad":0.17375,"reference_kp":200,"reference_kd":4},{"joint":"right_ankle_pitch","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.21875,"reference_kp":40,"reference_kd":2},{"joint":"right_ankle_roll","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.21875,"reference_kp":40,"reference_kd":2},{"joint":"waist_yaw","kp":40.1792,"kd":2.5579,"model_torque_min_nm":-88,"model_torque_max_nm":88,"screening_torque_nm":88,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"waist_roll","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"waist_pitch","kp":28.5012,"kd":1.8144,"model_torque_min_nm":-50,"model_torque_max_nm":50,"screening_torque_nm":35,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"left_shoulder_pitch","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"left_shoulder_roll","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"left_shoulder_yaw","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"left_elbow","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"left_wrist_roll","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"left_wrist_pitch","kp":16.7783,"kd":1.0681,"model_torque_min_nm":-5,"model_torque_max_nm":5,"screening_torque_nm":5,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"left_wrist_yaw","kp":16.7783,"kd":1.0681,"model_torque_min_nm":-5,"model_torque_max_nm":5,"screening_torque_nm":5,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"right_shoulder_pitch","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"right_shoulder_roll","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"right_shoulder_yaw","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"right_elbow","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.3,"reference_kp":60,"reference_kd":1.5},{"joint":"right_wrist_roll","kp":14.2506,"kd":0.9072,"model_torque_min_nm":-25,"model_torque_max_nm":25,"screening_torque_nm":25,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"right_wrist_pitch","kp":16.7783,"kd":1.0681,"model_torque_min_nm":-5,"model_torque_max_nm":5,"screening_torque_nm":5,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5},{"joint":"right_wrist_yaw","kp":16.7783,"kd":1.0681,"model_torque_min_nm":-5,"model_torque_max_nm":5,"screening_torque_nm":5,"screening_speed_rad_s":9,"tracking_error_rad":0.05,"reference_kp":60,"reference_kd":1.5}]},"wall_seconds":49.515028064000006,"runtime_review":{"status":"comparison_required","owner":"HIM","summary":"The test setup needs review before these findings can be attributed to the policy.","next_step":"HIM: match the builder’s reference simulator, observation timing and startup procedure, then rerun. Builder: inspect the recorded evidence; do not retune solely to satisfy this 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.","Simulation gains are preserved from the robot XML. Profile reference gains only define fixed tracking allowances; they are not the gains driving the robot."]}}}