{ "version": "1.0.0", "counts": { "PASS": 41, "FAIL": 23 }, "episodes": 64, "campaign_sha256": "e77b311b4447a72cafe73961873281415796554b03bad3be8df930a39d413012", "cases": [ { "case": "case-000", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6001237034797668, "max_ground_tilt_rad": 0.0006905039971264981, "sample_count": 274, "sample_period_s": 0.016, "max_forward_excursion_m": 0.1829533874988556, "initial_speed_m_s": 0.5999985337257385, "stop_time_s": 0.5919999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.872, "rollback_m": 0.0, "final_speed_m_s": 4.267729903699137e-11 } }, { "case": "case-001", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.1, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5999983549118042, "max_ground_tilt_rad": 0.0006896224432876352, "sample_count": 274, "sample_period_s": 0.016, "max_forward_excursion_m": 0.18301576375961304, "initial_speed_m_s": 0.5999983549118042, "stop_time_s": 0.5919999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.872, "rollback_m": 0.0, "final_speed_m_s": 4.676402372229325e-11 } }, { "case": "case-002", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.1, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6006022095680237, "max_ground_tilt_rad": 0.0006899489889100412, "sample_count": 274, "sample_period_s": 0.016, "max_forward_excursion_m": 0.18299973011016846, "initial_speed_m_s": 0.599998950958252, "stop_time_s": 0.5919999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.872, "rollback_m": 0.0, "final_speed_m_s": 5.331914418461871e-11 } }, { "case": "case-003", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5999935269355774, "max_ground_tilt_rad": 0.0, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 0.09129205346107483, "initial_speed_m_s": 0.5999935269355774, "stop_time_s": 0.3039999999999998, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 9.51230458186653e-10 } }, { "case": "case-004", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.2, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.600098729133606, "max_ground_tilt_rad": 0.0, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 0.0913500189781189, "initial_speed_m_s": 0.5999937653541565, "stop_time_s": 0.3039999999999998, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 1.1440154264557797e-09 } }, { "case": "case-005", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.2, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5999982357025146, "max_ground_tilt_rad": 0.0006900762194418645, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 0.09131139516830444, "initial_speed_m_s": 0.5999935865402222, "stop_time_s": 0.3039999999999998, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 1.2574342615181265e-09 } }, { "case": "case-006", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.4, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5999712944030762, "max_ground_tilt_rad": 0.0006897467324598657, "sample_count": 256, "sample_period_s": 0.016, "max_forward_excursion_m": 0.045617252588272095, "initial_speed_m_s": 0.5999712944030762, "stop_time_s": 0.15999999999999992, "observed_command_delay_s": 0.0, "request_time_s": 1.584, "rollback_m": 0.0, "final_speed_m_s": 3.2279617081423323e-10 } }, { "case": "case-007", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.4, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5999722480773926, "max_ground_tilt_rad": 0.0006903770056012219, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.04552486538887024, "initial_speed_m_s": 0.5999722480773926, "stop_time_s": 0.15999999999999992, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 3.8991327000912353e-10 } }, { "case": "case-008", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.4, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6001061797142029, "max_ground_tilt_rad": 0.0006682604885921738, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.045634925365448, "initial_speed_m_s": 0.599971354007721, "stop_time_s": 0.15999999999999992, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 4.185373811611361e-10 } }, { "case": "case-009", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.8, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5998392701148987, "max_ground_tilt_rad": 0.0006504844696585122, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.023165136575698853, "initial_speed_m_s": 0.5998392701148987, "stop_time_s": 0.09600000000000009, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 2.398840382300691e-10 } }, { "case": "case-010", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.8, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.5998438596725464, "max_ground_tilt_rad": 0.0006147654825996215, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.024264872074127197, "initial_speed_m_s": 0.5998438596725464, "stop_time_s": 0.09600000000000009, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 2.781761652294386e-10 } }, { "case": "case-011", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 0, "ground_mu": 0.8, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6019867062568665, "max_ground_tilt_rad": 0.0010268946895635894, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.024047285318374634, "initial_speed_m_s": 0.5998396277427673, "stop_time_s": 0.09600000000000009, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 2.760833049190026e-10 } }, { "case": "case-012", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.601913621253695, "max_ground_tilt_rad": 0.0008631081647593189, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 1.1259646644710846, "initial_speed_m_s": 0.601913621253695, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 0.29526405116874654 } }, { "case": "case-013", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.1, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6023626741779411, "max_ground_tilt_rad": 0.000942653743024309, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 1.125979393485842, "initial_speed_m_s": 0.6019349751172434, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 0.29545189239636 } }, { "case": "case-014", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.1, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6020286194461447, "max_ground_tilt_rad": 0.0006565703360470269, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 1.126250322743568, "initial_speed_m_s": 0.6020286194461447, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 0.2939224187495824 } }, { "case": "case-015", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6010490166463541, "max_ground_tilt_rad": 0.0006993362443144342, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.16589744623460184, "initial_speed_m_s": 0.6010481308877841, "stop_time_s": 0.528, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 0.0010546313274008422 } }, { "case": "case-016", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.2, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6011480025912221, "max_ground_tilt_rad": 0.0010333129373770395, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.1661447631005249, "initial_speed_m_s": 0.6011474523200904, "stop_time_s": 0.528, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 0.0011538821546403892 } }, { "case": "case-017", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.2, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6012724470923949, "max_ground_tilt_rad": 0.0007579827045761071, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.1667633996099852, "initial_speed_m_s": 0.6012714864100226, "stop_time_s": 0.544, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 0.0012781048374457937 } }, { "case": "case-018", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.4, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6010623693067728, "max_ground_tilt_rad": 0.0005846268768855349, "sample_count": 255, "sample_period_s": 0.016, "max_forward_excursion_m": 0.06119195520344656, "initial_speed_m_s": 0.6010623693067728, "stop_time_s": 0.19199999999999995, "observed_command_delay_s": 0.0, "request_time_s": 1.568, "rollback_m": 0.0, "final_speed_m_s": 0.0010909465624314005 } }, { "case": "case-019", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.4, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6016208950558812, "max_ground_tilt_rad": 0.0008838089045097696, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.061576078457612704, "initial_speed_m_s": 0.6011603746863815, "stop_time_s": 0.19199999999999995, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.0011880300153591485 } }, { "case": "case-020", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.4, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6012844678294642, "max_ground_tilt_rad": 0.0004345795518449617, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.06200151574546614, "initial_speed_m_s": 0.6012844678294642, "stop_time_s": 0.20799999999999996, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.00131304639229164 } }, { "case": "case-021", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.8, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6011044733309412, "max_ground_tilt_rad": 0.0010575937486130298, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.029079168270454925, "initial_speed_m_s": 0.6010979101972592, "stop_time_s": 0.09600000000000009, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.0012580029580858108 } }, { "case": "case-022", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.8, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6011942403350596, "max_ground_tilt_rad": 0.0013652654601679609, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.031017465757442353, "initial_speed_m_s": 0.6011942403350596, "stop_time_s": 0.1120000000000001, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.001349405131694515 } }, { "case": "case-023", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.8, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6018959123921899, "max_ground_tilt_rad": 0.000816350811692562, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.032002605630826464, "initial_speed_m_s": 0.6013188117475957, "stop_time_s": 0.09600000000000009, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.0014783672475400132 } }, { "case": "case-024", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 3.838207204546178, "max_ground_tilt_rad": 0.0011072719680622293, "sample_count": 325, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-025", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.1, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 3.8422805126322843, "max_ground_tilt_rad": 0.0014959163647473188, "sample_count": 325, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-026", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.1, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 3.846451583802171, "max_ground_tilt_rad": 0.0013499759473046974, "sample_count": 325, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-027", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6085298606114602, "max_ground_tilt_rad": 0.000842207171744597, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.7924110290352447, "initial_speed_m_s": 0.6029152497934651, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.02814035196694216 } }, { "case": "case-028", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.2, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6087770378220204, "max_ground_tilt_rad": 0.0005616037051678922, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.7929349395343946, "initial_speed_m_s": 0.6030632885087958, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.0329851553094956 } }, { "case": "case-029", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.2, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.607865273432646, "max_ground_tilt_rad": 0.0006857364977971431, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.7968147085502512, "initial_speed_m_s": 0.6044221819358132, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.03677853606090251 } }, { "case": "case-030", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.4, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.604753349401697, "max_ground_tilt_rad": 0.0008651781532088503, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.0883854021065898, "initial_speed_m_s": 0.6021758761632438, "stop_time_s": 0.272, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.0022044245831996964 } }, { "case": "case-031", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.4, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6025711118047391, "max_ground_tilt_rad": 0.00046909542178232575, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.0889317846639307, "initial_speed_m_s": 0.6023760309170978, "stop_time_s": 0.272, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.002403667046244476 } }, { "case": "case-032", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.4, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6028416765876942, "max_ground_tilt_rad": 0.0008415085958350096, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.09032471480070897, "initial_speed_m_s": 0.6026333131886694, "stop_time_s": 0.28800000000000003, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.002662285053144913 } }, { "case": "case-033", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.8, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6023481231987561, "max_ground_tilt_rad": 0.0006478177239156304, "sample_count": 251, "sample_period_s": 0.016, "max_forward_excursion_m": 0.03672051090103606, "initial_speed_m_s": 0.6023481231987561, "stop_time_s": 0.1120000000000001, "observed_command_delay_s": 0.0, "request_time_s": 1.504, "rollback_m": 0.0, "final_speed_m_s": 0.002506540737324199 } }, { "case": "case-034", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.8, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6025353269140212, "max_ground_tilt_rad": 0.0008071550778318236, "sample_count": 251, "sample_period_s": 0.016, "max_forward_excursion_m": 0.03830122115449058, "initial_speed_m_s": 0.6025353269140212, "stop_time_s": 0.1120000000000001, "observed_command_delay_s": 0.0, "request_time_s": 1.504, "rollback_m": 0.0, "final_speed_m_s": 0.00268858210647157 } }, { "case": "case-035", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.8, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6027877122414016, "max_ground_tilt_rad": 0.0011271956626064184, "sample_count": 251, "sample_period_s": 0.016, "max_forward_excursion_m": 0.03945381387458746, "initial_speed_m_s": 0.6027877122414016, "stop_time_s": 0.1280000000000001, "observed_command_delay_s": 0.0, "request_time_s": 1.504, "rollback_m": 0.0, "final_speed_m_s": 0.0029454749463601803 } }, { "case": "case-036", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 7.005538614201736, "max_ground_tilt_rad": 0.0025460267843941337, "sample_count": 180, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-037", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.1, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 7.013249944935941, "max_ground_tilt_rad": 0.00404218767437103, "sample_count": 180, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-038", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.1, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 6.9989360065110695, "max_ground_tilt_rad": 0.004040136761862956, "sample_count": 180, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-039", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 5.525527727670513, "max_ground_tilt_rad": 0.006455483832428835, "sample_count": 228, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-040", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.2, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 5.5179364790730965, "max_ground_tilt_rad": 0.007087175399499272, "sample_count": 228, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-041", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.2, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "initial_hold_failed", "approach_speed_not_reached" ], "metrics": { "braking_qualified": false, "max_achieved_speed_m_s": 5.512333183832267, "max_ground_tilt_rad": 0.006106824395097104, "sample_count": 228, "sample_period_s": 0.016, "max_forward_excursion_m": null, "initial_speed_m_s": null, "stop_time_s": null, "observed_command_delay_s": null } }, { "case": "case-042", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.4, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6208774626312958, "max_ground_tilt_rad": 0.0009395081108452328, "sample_count": 248, "sample_period_s": 0.016, "max_forward_excursion_m": 0.5702637699276765, "initial_speed_m_s": 0.6116235398651975, "stop_time_s": 1.8720000000000003, "observed_command_delay_s": 0.0, "request_time_s": 1.456, "rollback_m": 0.0, "final_speed_m_s": 0.011982474182450638 } }, { "case": "case-043", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.4, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6173565686491881, "max_ground_tilt_rad": 0.0008442535872895647, "sample_count": 248, "sample_period_s": 0.016, "max_forward_excursion_m": 0.5735587163235069, "initial_speed_m_s": 0.6081237728761815, "stop_time_s": 1.968, "observed_command_delay_s": 0.0, "request_time_s": 1.456, "rollback_m": 0.0, "final_speed_m_s": 0.011405811781662575 } }, { "case": "case-044", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.4, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6169660330056145, "max_ground_tilt_rad": 0.0007999426500903562, "sample_count": 248, "sample_period_s": 0.016, "max_forward_excursion_m": 0.5821249167481017, "initial_speed_m_s": 0.6098502074189878, "stop_time_s": 2.0, "observed_command_delay_s": 0.0, "request_time_s": 1.456, "rollback_m": 0.0, "final_speed_m_s": 0.009564601258870275 } }, { "case": "case-045", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.8, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6050783847742299, "max_ground_tilt_rad": 0.0013783965582701077, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.058211138033787246, "initial_speed_m_s": 0.605078344053677, "stop_time_s": 0.16000000000000014, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.005236773728196899 } }, { "case": "case-046", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.8, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6055499674260947, "max_ground_tilt_rad": 0.0008284425380971452, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.0614009880268937, "initial_speed_m_s": 0.6055496224016456, "stop_time_s": 0.16000000000000014, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.005702108472039379 } }, { "case": "case-047", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.8, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "grid", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6093755714367708, "max_ground_tilt_rad": 0.0008549879215905784, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.06791665489760829, "initial_speed_m_s": 0.6061542393386034, "stop_time_s": 0.19200000000000017, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.006310201861610285 } }, { "case": "case-048", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.6000000000000001, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6056691260886955, "max_ground_tilt_rad": 0.0013014873059394188, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.09745837645676209, "initial_speed_m_s": 0.6051740449264189, "stop_time_s": 0.28800000000000003, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.005231653787323409 } }, { "case": "case-049", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.6000000000000001, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6055739841430767, "max_ground_tilt_rad": 0.0009195458766616732, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.09851582780462587, "initial_speed_m_s": 0.6055736736681446, "stop_time_s": 0.28800000000000003, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.005634014039850418 } }, { "case": "case-050", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.6000000000000001, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.606134999170936, "max_ground_tilt_rad": 0.0010158612446350135, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.10122178105502089, "initial_speed_m_s": 0.6061339157254512, "stop_time_s": 0.32000000000000006, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.006198542037076636 } }, { "case": "case-051", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.5, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6056952603407079, "max_ground_tilt_rad": 0.0007450173847633597, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.1579269942779587, "initial_speed_m_s": 0.6056520603349408, "stop_time_s": 0.48, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.00572056863938764 } }, { "case": "case-052", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.5, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6065589400668179, "max_ground_tilt_rad": 0.0008932296463570326, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.16132375958691914, "initial_speed_m_s": 0.6061944043057942, "stop_time_s": 0.496, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.0062109665430440525 } }, { "case": "case-053", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 20, "ground_mu": 0.5, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.608096107950985, "max_ground_tilt_rad": 0.0017583536007745569, "sample_count": 249, "sample_period_s": 0.016, "max_forward_excursion_m": 0.16709031041561312, "initial_speed_m_s": 0.6073793594627837, "stop_time_s": 0.528, "observed_command_delay_s": 0.0, "request_time_s": 1.472, "rollback_m": 0.0, "final_speed_m_s": 0.006940108468534466 } }, { "case": "case-054", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.30000000000000004, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6023456248199303, "max_ground_tilt_rad": 0.0007088096094658883, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.15620669881322974, "initial_speed_m_s": 0.6023453363561639, "stop_time_s": 0.496, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.0023577434104141357 } }, { "case": "case-055", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.30000000000000004, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.602532596182986, "max_ground_tilt_rad": 0.0006610065243936534, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.15665242953290226, "initial_speed_m_s": 0.6025324200856371, "stop_time_s": 0.496, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.0025444673336239895 } }, { "case": "case-056", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.30000000000000004, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6076660642878503, "max_ground_tilt_rad": 0.0007218255583886727, "sample_count": 253, "sample_period_s": 0.016, "max_forward_excursion_m": 0.15779112968050407, "initial_speed_m_s": 0.6027900623145849, "stop_time_s": 0.496, "observed_command_delay_s": 0.0, "request_time_s": 1.536, "rollback_m": 0.0, "final_speed_m_s": 0.00280301371072079 } }, { "case": "case-057", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.25, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "FAIL", "reasons": [ "stopping_distance_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.602825004957597, "max_ground_tilt_rad": 0.0004600989478000771, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.2589328721034762, "initial_speed_m_s": 0.602536897079556, "stop_time_s": 0.8319999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.002542967221774927 } }, { "case": "case-058", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.25, "payload_kg": 10, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "FAIL", "reasons": [ "stopping_distance_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6029783745343573, "max_ground_tilt_rad": 0.0008421553100383664, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.25970095383683195, "initial_speed_m_s": 0.6027184006549462, "stop_time_s": 0.8319999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.0027241977818041945 } }, { "case": "case-059", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 10, "ground_mu": 0.25, "payload_kg": 20, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "refinement", "status": "FAIL", "reasons": [ "stopping_distance_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6036275617159288, "max_ground_tilt_rad": 0.0008380678557817589, "sample_count": 254, "sample_period_s": 0.016, "max_forward_excursion_m": 0.26110711274290976, "initial_speed_m_s": 0.6029779298330458, "stop_time_s": 0.8319999999999999, "observed_command_delay_s": 0.0, "request_time_s": 1.552, "rollback_m": 0.0, "final_speed_m_s": 0.0029839583973585663 } }, { "case": "case-060", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "confirmation", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.601913621253695, "max_ground_tilt_rad": 0.0008631081647593189, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 1.1259646644710846, "initial_speed_m_s": 0.601913621253695, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 0.29526405116874654 } }, { "case": "case-061", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.1, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "confirmation", "status": "FAIL", "reasons": [ "stopping_distance_exceeded", "stopping_deadline_exceeded" ], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.601913621253695, "max_ground_tilt_rad": 0.0008631081647593189, "sample_count": 261, "sample_period_s": 0.016, "max_forward_excursion_m": 1.1259646644710846, "initial_speed_m_s": 0.601913621253695, "stop_time_s": null, "observed_command_delay_s": 0.0, "request_time_s": 1.6640000000000001, "rollback_m": 0.0, "final_speed_m_s": 0.29526405116874654 } }, { "case": "case-062", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "confirmation", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6010490166463541, "max_ground_tilt_rad": 0.0006993362443144342, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.16589744623460184, "initial_speed_m_s": 0.6010481308877841, "stop_time_s": 0.528, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 0.0010546313274008422 } }, { "case": "case-063", "spec": { "schema_version": 2, "robot": "husky", "target_speed_m_s": 0.6, "brake_delay_s": 0.0, "max_stop_distance_m": 0.25, "max_stop_time_s": 1.5, "settled_speed_m_s": 0.025, "settled_hold_s": 0.4, "settle_s": 1.0, "min_drive_distance_m": 0.3, "speed_hold_s": 0.3, "prepare_timeout_s": 6.0, "observe_after_request_s": 2.5, "timestep_ms": 16, "slope_deg": 5, "ground_mu": 0.2, "payload_kg": 0, "payload_height_m": 0.35, "payload_offset_x_m": 0.0 }, "kind": "confirmation", "status": "PASS", "reasons": [], "metrics": { "braking_qualified": true, "max_achieved_speed_m_s": 0.6010490166463541, "max_ground_tilt_rad": 0.0006993362443144342, "sample_count": 257, "sample_period_s": 0.016, "max_forward_excursion_m": 0.16589744623460184, "initial_speed_m_s": 0.6010481308877841, "stop_time_s": 0.528, "observed_command_delay_s": 0.0, "request_time_s": 1.6, "rollback_m": 0.0, "final_speed_m_s": 0.0010546313274008422 } } ], "trace_sha256": { "husky-case-013-trace.jsonl": "ff933bff0942c9be0e720262674467ba1780c98e52b65aa99d70d58796155c4e", "husky-case-016-trace.jsonl": "3ecc3710c159e23671e8ba3232e282d9577f067749e0ce5c621f6d01020ed066" }, "comparison_cases": [ "case-013", "case-016" ] }