{
 "clip": "neo2_F_jogturn",
 "policy": "data/robot_neo2/eval/neo2_F_jogturn_a.onnx",
 "motion": "data/robot_neo2/motions/neo2_F_jogturn.npz",
 "label": "",
 "motion_info": {
  "source": "data/robot_neo2/pkg/neo2_F_jogturn/robot/g1_qpos.npz",
  "source_fps": 29.97002997002997,
  "fps": 50.0,
  "frames": 399,
  "duration_s": 7.98,
  "root_smooth": 7,
  "joint_smooth": 0,
  "time_scale": 1.0,
  "lead_in_s": 0.0,
  "trim": null,
  "z_shift_m": 0.0,
  "root_speed_raw25_p95": 2.18,
  "root_speed_raw25_max": 2.392,
  "root_speed_p95": 2.146,
  "root_speed_max": 2.282,
  "path_len_m": 14.563,
  "foot_min_z_med_after_shift_m": 0.0077,
  "method": "sim/robot/mjlab_motion.py: SG root smoothing, cubic/slerp resample to 50 Hz, plain-MuJoCo FK on mjlab G1"
 },
 "engine": "plain MuJoCo 3.11.0 (CPU), dt 0.005 s, policy 50 Hz, torque limits on (actuator forcerange), free base",
 "protocol": "run 0 nominal; runs 1.. randomised: friction U(0.4,1.0), mass/inertia x U(0.9,1.1) per body, kp/kd x U(0.8,1.2) per actuator, command delay 0-20 ms, training observation noise, start noise (root +-5 cm, rpy +-0.1/0.1/0.2 rad, joints +-0.1 rad, root vel +-0.2 m/s), pushes every 1-3 s (+-0.5 m/s xy, +-0.2 m/s z)",
 "fall_rule": "pelvis < 0.35 m, pelvis 0.35 m below the reference, or torso tilt > max(60 deg, reference torso tilt + 25 deg)",
 "success_rule": "no fall over the whole clip; strict = no fall and max pelvis xy error < 1.0 m",
 "nominal": {
  "seed": 0,
  "randomised": false,
  "success": true,
  "t_fall_s": null,
  "duration_s": 7.98,
  "tracked_s": 7.98,
  "root_err_mean_m": 0.06,
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  "joint_err_mean_deg": 4.46,
  "keypoint_err_global_cm": 6.83,
  "keypoint_err_local_cm": 2.11,
  "speed_mean_m_s": 1.806,
  "speed_p95_m_s": 2.165,
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  "ref_speed_p95_m_s": 2.15,
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  "ref_path_m": 14.563,
  "contact_slip_cm_s_mean": 11.13,
  "contact_slip_cm_s_p90": 24.38,
  "penetration_mm_max": 31.63,
  "penetration_mm_mean_in_contact": 6.22,
  "float_frac": 0.0207,
  "flight_frac_robot": 0.2707,
  "flight_frac_ref": 0.396,
  "torque_raw_peak_ratio": 1.0,
  "torque_raw_peak_joint": "left_ankle_pitch_joint",
  "torque_avg120ms_peak_ratio": 0.963,
  "torque_avg120ms_peak_joint": "left_ankle_pitch_joint",
  "torque_at_limit_pct": 4.45,
  "strict_success": true
 },
 "randomised": {
  "n": 59,
  "success": 59,
  "success_rate": 1.0,
  "strict_success": 59,
  "strict_success_rate": 1.0,
  "root_err_mean_m_over_successful": {
   "mean": 0.103,
   "median": 0.105,
   "p90": 0.134,
   "max": 0.148
  },
  "root_err_max_m_over_successful": {
   "mean": 0.262,
   "median": 0.26,
   "p90": 0.325,
   "max": 0.432
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  "root_err_end_m_over_successful": {
   "mean": 0.141,
   "median": 0.126,
   "p90": 0.259,
   "max": 0.432
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  "anchor_err_mean_m_over_successful": {
   "mean": 0.107,
   "median": 0.109,
   "p90": 0.137,
   "max": 0.151
  },
  "joint_err_mean_deg_over_successful": {
   "mean": 5.026,
   "median": 5.02,
   "p90": 5.25,
   "max": 5.65
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  "keypoint_err_global_cm_over_successful": {
   "mean": 11.55,
   "median": 11.82,
   "p90": 14.472,
   "max": 16.06
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  "keypoint_err_local_cm_over_successful": {
   "mean": 2.938,
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   "p90": 3.164,
   "max": 3.33
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  "speed_mean_m_s_over_successful": {
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   "median": 1.824,
   "p90": 1.842,
   "max": 1.854
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  "speed_p95_m_s_over_successful": {
   "mean": 2.293,
   "median": 2.291,
   "p90": 2.365,
   "max": 2.46
  },
  "path_m_over_successful": {
   "mean": 14.532,
   "median": 14.522,
   "p90": 14.665,
   "max": 14.755
  },
  "contact_slip_cm_s_mean_over_successful": {
   "mean": 12.29,
   "median": 12.16,
   "p90": 13.414,
   "max": 14.35
  },
  "contact_slip_cm_s_p90_over_successful": {
   "mean": 28.291,
   "median": 28.16,
   "p90": 31.62,
   "max": 36.31
  },
  "penetration_mm_max_over_successful": {
   "mean": 31.214,
   "median": 34.32,
   "p90": 36.832,
   "max": 38.68
  },
  "float_frac_over_successful": {
   "mean": 0.025,
   "median": 0.025,
   "p90": 0.042,
   "max": 0.079
  },
  "flight_frac_robot_over_successful": {
   "mean": 0.265,
   "median": 0.266,
   "p90": 0.289,
   "max": 0.318
  },
  "torque_raw_peak_ratio_over_successful": {
   "mean": 1.0,
   "median": 1.0,
   "p90": 1.0,
   "max": 1.0
  },
  "torque_avg120ms_peak_ratio_over_successful": {
   "mean": 0.927,
   "median": 0.932,
   "p90": 0.998,
   "max": 1.0
  },
  "torque_at_limit_pct_over_successful": {
   "mean": 3.58,
   "median": 3.38,
   "p90": 7.648,
   "max": 9.34
  },
  "t_fall_s_of_failures": []
 },
 "all": {
  "n": 60,
  "success": 60,
  "success_rate": 1.0,
  "strict_success": 60,
  "strict_success_rate": 1.0,
  "root_err_mean_m_over_successful": {
   "mean": 0.103,
   "median": 0.104,
   "p90": 0.134,
   "max": 0.148
  },
  "root_err_max_m_over_successful": {
   "mean": 0.26,
   "median": 0.26,
   "p90": 0.324,
   "max": 0.432
  },
  "root_err_end_m_over_successful": {
   "mean": 0.141,
   "median": 0.121,
   "p90": 0.259,
   "max": 0.432
  },
  "anchor_err_mean_m_over_successful": {
   "mean": 0.107,
   "median": 0.108,
   "p90": 0.137,
   "max": 0.151
  },
  "joint_err_mean_deg_over_successful": {
   "mean": 5.017,
   "median": 5.015,
   "p90": 5.25,
   "max": 5.65
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  "keypoint_err_global_cm_over_successful": {
   "mean": 11.471,
   "median": 11.77,
   "p90": 14.471,
   "max": 16.06
  },
  "keypoint_err_local_cm_over_successful": {
   "mean": 2.924,
   "median": 2.91,
   "p90": 3.162,
   "max": 3.33
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  "speed_mean_m_s_over_successful": {
   "mean": 1.825,
   "median": 1.824,
   "p90": 1.842,
   "max": 1.854
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  "speed_p95_m_s_over_successful": {
   "mean": 2.291,
   "median": 2.291,
   "p90": 2.364,
   "max": 2.46
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  "path_m_over_successful": {
   "mean": 14.529,
   "median": 14.52,
   "p90": 14.664,
   "max": 14.755
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  "contact_slip_cm_s_mean_over_successful": {
   "mean": 12.271,
   "median": 12.155,
   "p90": 13.412,
   "max": 14.35
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  "contact_slip_cm_s_p90_over_successful": {
   "mean": 28.226,
   "median": 28.145,
   "p90": 31.615,
   "max": 36.31
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  "penetration_mm_max_over_successful": {
   "mean": 31.221,
   "median": 34.21,
   "p90": 36.796,
   "max": 38.68
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  "float_frac_over_successful": {
   "mean": 0.025,
   "median": 0.023,
   "p90": 0.042,
   "max": 0.079
  },
  "flight_frac_robot_over_successful": {
   "mean": 0.265,
   "median": 0.266,
   "p90": 0.288,
   "max": 0.318
  },
  "torque_raw_peak_ratio_over_successful": {
   "mean": 1.0,
   "median": 1.0,
   "p90": 1.0,
   "max": 1.0
  },
  "torque_avg120ms_peak_ratio_over_successful": {
   "mean": 0.928,
   "median": 0.934,
   "p90": 0.998,
   "max": 1.0
  },
  "torque_at_limit_pct_over_successful": {
   "mean": 3.595,
   "median": 3.38,
   "p90": 7.554,
   "max": 9.34
  },
  "t_fall_s_of_failures": []
 },
 "runs": [
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   "seed": 0,
   "randomised": false,
   "success": true,
   "t_fall_s": null,
   "duration_s": 7.98,
   "tracked_s": 7.98,
   "root_err_mean_m": 0.06,
   "root_err_max_m": 0.129,
   "root_err_end_m": 0.113,
   "anchor_err_mean_m": 0.062,
   "joint_err_mean_deg": 4.46,
   "keypoint_err_global_cm": 6.83,
   "keypoint_err_local_cm": 2.11,
   "speed_mean_m_s": 1.806,
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   "ref_speed_mean_m_s": 1.829,
   "ref_speed_p95_m_s": 2.15,
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   "success": true,
   "t_fall_s": null,
   "duration_s": 7.98,
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   "contact_slip_cm_s_p90": 26.58,
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   "torque_avg120ms_peak_ratio": 0.917,
   "torque_avg120ms_peak_joint": "left_ankle_pitch_joint",
   "torque_at_limit_pct": 3.57,
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   "seed": 59,
   "randomised": true,
   "friction": 0.753,
   "mass_scale_total": 0.9829,
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   "root_err_mean_m": 0.104,
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   "root_err_end_m": 0.053,
   "anchor_err_mean_m": 0.109,
   "joint_err_mean_deg": 4.98,
   "keypoint_err_global_cm": 11.84,
   "keypoint_err_local_cm": 2.86,
   "speed_mean_m_s": 1.83,
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   "contact_slip_cm_s_mean": 11.03,
   "contact_slip_cm_s_p90": 22.66,
   "penetration_mm_max": 29.0,
   "penetration_mm_mean_in_contact": 5.96,
   "float_frac": 0.0041,
   "flight_frac_robot": 0.2406,
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   "torque_avg120ms_peak_ratio": 0.88,
   "torque_avg120ms_peak_joint": "left_ankle_pitch_joint",
   "torque_at_limit_pct": 0.88,
   "strict_success": true
  }
 ],
 "eval_wall_s": 8.8
}