{ "task": "standing_stability", "episodes": 14, "counts": { "PASS": 6, "FAIL": 8, "ERROR": 0 }, "cases": [ { "case": "case-000", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.07181910425424576, "contact_sample_fraction": 0.9969040247678018, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9465444888529022, "final_tilt_rad": 1.5233988561194516, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-001", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.02 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.856, "max_tilt_rad": 1.527658891096924, "final_height_m": 0.0712498277425766, "contact_sample_fraction": 0.9979360165118679, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9437751579413537, "final_tilt_rad": 1.5238971719679584, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-002", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.04 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.968, "max_tilt_rad": 1.5286963132099314, "final_height_m": 0.0597904808819294, "contact_sample_fraction": 0.9943240454076367, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.8012700122449958, "final_tilt_rad": 1.5239312083706615, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-003", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.06 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 3.168, "max_tilt_rad": 1.528467602435315, "final_height_m": 0.06113829463720322, "contact_sample_fraction": 0.9917440660474717, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9136339109159823, "final_tilt_rad": 1.5245383063228053, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-004", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.08 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.026103822497524822, "final_height_m": 0.7582960724830627, "contact_sample_fraction": 1.0, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.014120486269040613, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } }, { "case": "case-005", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611544132232666, "contact_sample_fraction": 1.0, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } }, { "case": "case-006", "kind": "confirmation", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.07181910425424576, "contact_sample_fraction": 0.9969040247678018, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9465444888529022, "final_tilt_rad": 1.5233988561194516, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-007", "kind": "confirmation", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.07181910425424576, "contact_sample_fraction": 0.9969040247678018, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9465444888529022, "final_tilt_rad": 1.5233988561194516, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-008", "kind": "confirmation", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611544132232666, "contact_sample_fraction": 1.0, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } }, { "case": "case-009", "kind": "confirmation", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611544132232666, "contact_sample_fraction": 1.0, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } }, { "case": "case-010", "kind": "holdout", "spec": { "robot": "g1", "duration_s": 48, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.07160847634077072, "contact_sample_fraction": 0.9979577944179714, "observation_s": 48.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 1.0364811907480918, "final_tilt_rad": 1.5226596192211026, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-011", "kind": "holdout", "spec": { "robot": "g1", "duration_s": 48, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611662745475769, "contact_sample_fraction": 1.0, "observation_s": 48.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } }, { "case": "case-012", "kind": "holdout", "spec": { "robot": "g1", "duration_s": 60, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.06695911288261414, "contact_sample_fraction": 0.9983731019522777, "observation_s": 60.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 1.0364811907480918, "final_tilt_rad": 1.5224828474461494, "final_two_foot_contact_fraction": 0.0 } }, { "case": "case-013", "kind": "holdout", "spec": { "robot": "g1", "duration_s": 60, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611839771270752, "contact_sample_fraction": 1.0, "observation_s": 60.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0006905072380512228, "final_two_foot_contact_fraction": 1.0 } } ], "selected_pair": [ "case-000", "case-005" ], "comparison": { "before": { "case": "case-000", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": 0 }, "status": "FAIL", "reasons": [ "fell_or_lost_upright_posture", "standing_not_upright", "standing_height_not_maintained", "standing_drift_exceeded_25_cm", "two_foot_support_not_maintained" ], "metrics": { "first_fall_s": 1.728, "max_tilt_rad": 1.5280958048293574, "final_height_m": 0.07181910425424576, "contact_sample_fraction": 0.9969040247678018, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.9465444888529022, "final_tilt_rad": 1.5233988561194516, "final_two_foot_contact_fraction": 0.0 } }, "after": { "case": "case-005", "kind": "grid", "spec": { "robot": "g1", "duration_s": 32.0, "handover_s": 12.0, "support_gate": true, "squat_ff_ank": 0.08, "squat_rise_s": 5.5, "squat_descend_s": 3.5, "ground_mu": 2.0, "g1_task": "stand", "ankle_bias": -0.1 }, "status": "PASS", "reasons": [], "metrics": { "first_fall_s": null, "max_tilt_rad": 0.02602149706731126, "final_height_m": 0.7611544132232666, "contact_sample_fraction": 1.0, "observation_s": 32.0, "assist": "none", "pose_writes": false, "max_horizontal_drift_m": 0.05530494362264004, "final_tilt_rad": 0.0, "final_two_foot_contact_fraction": 1.0 } } }, "selection": "Candidate selected from grid PASS only; holdouts never used for selection", "held_out_inputs": [ 48, 60 ], "raw_trace_sha256": { "g1-before-trace.jsonl": "932a14de0c3c36af451974edadb845e98d98538cc7d2129b4dd2fe0a98abb442", "g1-after-trace.jsonl": "c11a948d57d971013e6c41ab4d269dfd7361f3d5241e0cc5ba971898db9b0972" }, "campaign_sha256": "7613b63ed30f05ff8f881a50f84c16f35478b6dbe3aca8beea1bf94166ae34bf", "source_sha256": { "projects/assessments/controllers/legged_observer/legged_observer.py": "5c0549a1087ea529574c615aba9343540a87c4051e07213754cada3a492678f2", "omnisim/assessment/campaign.py": "60bb0b3d1dbda3ae06761299520a6a49a3ab3ad2fd6635d50de7e4cc51e36184", "omnisim/assessment/cli.py": "c561de7dbba050eca756ffcc1445f5a7b48edf9ecaed5ceae96dbd5f6c140355", "omnisim/assessment/delivery.py": "855e50f589c3f3341b3d840f36d8f5d842095d3a2827c9709e31ad045a258054", "omnisim/assessment/legged.py": "3df728e479263b00167765b8af7c0b695e4369bb3c051e3db01013648af04daf", "omnisim/assessment/oracles.py": "9203affc501ccf7f591709f598cba4f6717fa27304567b06e951b1d034227e73", "omnisim/assessment/package_profiles.py": "9497ce3933089e59908c69909fe76ca1323fdca73342504dfbc2dbe098337f44", "omnisim/assessment/registry.py": "5c098e9ce2395614b20a1ee3fde4d0ab0f5f017d9db474ae4a0c0089e14b73cf", "omnisim/assessment/report.py": "ce87b50f8c8476ec033f48432d8f633fe181057bfc4bbdcd58d88de65ffe6f9d", "omnisim/assessment/runner.py": "f5df1d30f1b38265b6460f66bd581a2e3a0a7a9f9d6ec542d64f330fac6ad25f", "omnisim/assessment/scenarios.py": "ec5d0b7caf98247e1e74be2d0f91988d6c70aa25d500c7c1965a3f3d6595c149", "omnisim/assessment/schema.py": "978afabe5d22062ebd924a6f85aca4d9934237a3786f83b901623c7cc24bd94c", "omnisim/assessment/__init__.py": "e450d1de035b748a044659ea3e89fe0c41f29a40ce3ec8e24f0a30a9f2195095", "projects/policies/controllers/humanoid_stand_deploy/arm_ik.py": "5b5618c7afb8da212c22e6edd3a6c62cdd68c9a4ba335c93c7e560602bd5b0b9", "projects/policies/controllers/humanoid_stand_deploy/capture_step.py": "107147ff4e9e7e2c3fb73e1b41dd1048dbdc5032ff108203f19c47a7c5d246ca", "projects/policies/controllers/humanoid_stand_deploy/humanoid_stand_deploy.py": "b3cc2c3ac989b8b1e88ec83d8c7b593eca0022bbba79cb1e8a1084c43aa50317", "projects/policies/controllers/humanoid_stand_deploy/README.md": "8f4b347cc882936e1898328cdb61aad2b82fc935a811d781cc95aae7710c9f55", "projects/policies/controllers/humanoid_stand_deploy/specs/g1.json": "df7745a8fa14cadf8f13019ce821bc3e187ce127e632b25def3e53e556981033", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_armsdown.json": "762488914101012a56d9aae5c731eeceab8639a81f9523b9d546a17f08090e8c", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_arm_motion.json": "b08c9060c071242506bd4939a9237683292600a5242237851e330e110907945c", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_manip.json": "c2a7376a9a56e9f449222e74f196eba7678374e9dc2a2aa6261e32a868e23277", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_mpc.json": "88ceb39aa5b9c3b6d110666d598c155e39faa64f752044251e585e970592a204", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_oneleg.json": "d2f7b3026177c127cc1d4b633bcd1a2a665474c384f0f6690d208e00c20c32fa", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_squat.json": "4b15d9b7614bc9fdbd98f1e19b89f79d91f09635668aeb15e49d189d9365cd5f", "projects/policies/controllers/humanoid_stand_deploy/specs/g1_tsid.json": "a1375bf82bc8f4ffe1c8641c14fd147a1dac1e1bc40ec85404c7d17895c97fd5", "projects/policies/controllers/humanoid_stand_deploy/specs/h1.json": "4e5cb0bacf26110f38735d8c8c029a7b298785044094ccbb72187d4e6bd9bb2c", "projects/robots/unitree/g1/urdf/.gitignore": "0902d6281180ce1c47f9002678610ef317bd116005b45735f117186e33bc28fd", "projects/robots/unitree/g1/urdf/g1_23dof.urdf": "5d5a7380ec2f747e82dfd7c61fe70515715d413c3521a02911ef5dd9a007e374", "projects/robots/unitree/g1/urdf/g1_23dof_ghost.urdf": "3319f8b142aa18e02b34fde03e6098b3b4388d4a5e5db5e3626349b54e96afa8", "projects/robots/unitree/g1/urdf/g1_23dof_grasp.urdf": "192deef330611f8c274d07e4ebf786578e1ac8f69f1d53518fe4d7404d90ff37", "projects/robots/unitree/g1/urdf/g1_23dof_omnisim.urdf": "27b736abbe9ff32745bb546df668851910e81eada8168ce898aaf2c8a19933f5", "projects/robots/unitree/g1/urdf/g1_23dof_omnisim_bigfoot.urdf": "45049797d8e4bee07d51904956efdcab3d1e1ae93cc248a51dfb5dae9a418fba", "projects/robots/unitree/g1/urdf/g1_23dof_omnisim_crawl.urdf": "d5b73100f966ad46a95b134a1955169a0ecfd8e23b6efed6a98289d905caf8c7", "projects/robots/unitree/g1/urdf/g1_23dof_omnisim_hugefoot.urdf": "f2c8711c5252c15a6ed8145300919e5bb7162777aed697d23ecb34063eceb140", "projects/robots/unitree/g1/urdf/g1_23dof_omnisim_prim.urdf": "2b3d7df095cd63ac3098b4b8a0c7de67900faafcefe7e76220ed95dd5bc19cb6", "projects/robots/unitree/g1/urdf/g1_full_kp100.mjcf.xml": "3589289a528b0e45a8eecb5a2224719a53a3d379f49d57ef56d3b50b56a1d41a", "projects/robots/unitree/g1/urdf/g1_full_kp200.mjcf.xml": "1637743bc8dab4a3e72989debcec6cc8664496e8559366b90d4c385cca284045", "projects/robots/unitree/g1/urdf/g1_legs.mjcf.xml": "fe2be28af1ec810cdb148b500fec4e87217de8dc2ac4e5426da120be2a53e091", "projects/robots/unitree/g1/urdf/g1_legs_kp100.mjcf.xml": "fead279b3d32632a42bf93f5d7aa4d9ff246d317086662ff73f075212b44cbb8", "projects/robots/unitree/g1/urdf/g1_legs_mjcf.urdf": "9725249e365724542d469c3d305b18bd1bf6f8843ff9bd5bcef7bb8be236b865", "projects/robots/unitree/g1/urdf/g1_legs_omnisim.urdf": "75fe24e5469b432e16d5198c8c0992ab98ad140249be7b40dc0dffa5c481dff8", "projects/robots/unitree/g1/urdf/g1_sit.mjcf.xml": "f45c66d7f858f4925514566d12eda2b957ffa222384a0ade63a005b74efbd221", "projects/robots/unitree/g1/urdf/g1_sit_kp100.mjcf.xml": "606dee8e2db705b1eb28482d69c0dca424872938f4ece58da80b283da2c6751d", "projects/robots/unitree/g1/urdf/g1_stool_kp100.mjcf.xml": "48c3bd701c63df26fc3be536036b351fd3f529add3d540d16270e02392465964", "projects/robots/unitree/g1/urdf/make_ghost_urdf.py": "0910dc4b43b3fee023f4bd38f665f3e198560cd73ae97c44f547d8ad06bf507f", "projects/robots/unitree/g1/urdf/meshes/head_link.STL": "005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411", "projects/robots/unitree/g1/urdf/meshes/left_ankle_pitch_link.STL": "d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d", "projects/robots/unitree/g1/urdf/meshes/left_ankle_roll_link.STL": "c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f", "projects/robots/unitree/g1/urdf/meshes/left_elbow_link.STL": "fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3", "projects/robots/unitree/g1/urdf/meshes/left_hip_pitch_link.STL": "4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4", "projects/robots/unitree/g1/urdf/meshes/left_hip_roll_link.STL": "91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf", "projects/robots/unitree/g1/urdf/meshes/left_hip_yaw_link.STL": "a16d88aa6ddac8083aa7ad55ed317bea44b1fa003d314fba88965b7ed0f3b55b", "projects/robots/unitree/g1/urdf/meshes/left_knee_link.STL": "8d92b9e3d3a636761150bb8025e32514c4602b91c7028d523ee42b3e632de477", "projects/robots/unitree/g1/urdf/meshes/left_shoulder_pitch_link.STL": "f0d1cfd02fcf0d42f95e678eeca33da3afbcc366ffba5c052847773ec4f31d52", "projects/robots/unitree/g1/urdf/meshes/left_shoulder_roll_link.STL": "fb9df21687773522598dc384f1a2945c7519f11cbc8bd372a49170316d6eee88", "projects/robots/unitree/g1/urdf/meshes/left_shoulder_yaw_link.STL": "1aa97e9748e924336567992181f78c7cd0652fd52a4afcca3df6b2ef6f9e712e", "projects/robots/unitree/g1/urdf/meshes/left_wrist_roll_rubber_hand.STL": "e81030abd023bd9e4a308ef376d814a2c12d684d8a7670c335bbd5cd7809c909", "projects/robots/unitree/g1/urdf/meshes/logo_link.STL": "8571a0a19bc4916fa55f91449f51d5fdefd751000054865a842449429d5f155b", "projects/robots/unitree/g1/urdf/meshes/pelvis.STL": "5ba6bbc888e630550140d3c26763f10206da8c8bd30ed886b8ede41c61f57a31", "projects/robots/unitree/g1/urdf/meshes/pelvis_contour_link.STL": "5cc5c2c7a312329e3feeb2b03d3fc09fc29705bd01864f6767e51be959662420", "projects/robots/unitree/g1/urdf/meshes/right_ankle_pitch_link.STL": "15be426539ec1be70246d4d82a168806db64a41301af8b35c197a33348c787a9", "projects/robots/unitree/g1/urdf/meshes/right_ankle_roll_link.STL": "4b66222ea56653e627711b56d0a8949b4920da5df091da0ceb343f54e884e3a5", "projects/robots/unitree/g1/urdf/meshes/right_elbow_link.STL": "1be925d7aa268bb8fddf5362b9173066890c7d32092c05638608126e59d1e2ab", "projects/robots/unitree/g1/urdf/meshes/right_hip_pitch_link.STL": "e4f3c99d7f4a7d34eadbef9461fc66e3486cb5442db1ec50c86317d459f1a9c6", "projects/robots/unitree/g1/urdf/meshes/right_hip_roll_link.STL": "4c254ef66a356f492947f360dd931965477b631e3fcc841f91ccc46d945d54f6", "projects/robots/unitree/g1/urdf/meshes/right_hip_yaw_link.STL": "e479c2936ca2057e9eb2f7dff6c189b7419d7b8484dea0b298cbb36a2a6aa668", "projects/robots/unitree/g1/urdf/meshes/right_knee_link.STL": "63c4008449c9bbe701a6e2b557b7a252e90cf3a5abcf54cee46862b9a69f8ec8", "projects/robots/unitree/g1/urdf/meshes/right_shoulder_pitch_link.STL": "24cdb387e0128dfe602770a81c56cdce3a0181d34d039a11d1aaf8819b7b8c02", "projects/robots/unitree/g1/urdf/meshes/right_shoulder_roll_link.STL": "962b97c48f9ce9e8399f45dd9522e0865d19aa9fd299406b2d475a8fc4a53e81", "projects/robots/unitree/g1/urdf/meshes/right_shoulder_yaw_link.STL": "a0b76489271da0c72461a344c9ffb0f0c6e64f019ea5014c1624886c442a2fe5", "projects/robots/unitree/g1/urdf/meshes/right_wrist_roll_rubber_hand.STL": "0729aff1ac4356f9314de13a46906267642e58bc47f0d8a7f17f6590a6242ccf", "projects/robots/unitree/g1/urdf/meshes/torso_link.STL": "e96d023f0368a4e3450b86ca5d4f10227d8141156a373e7da8cb3c93266523e0", "projects/robots/unitree/g1/urdf/meshes/waist_support_link.STL": "1fae9e1bb609848a1667d32eed8d6083ae443538a306843056a2a660f1b2926a", "projects/robots/unitree/g1/urdf/meshes/waist_yaw_link.STL": "2883f20e03f09b669b5b4ce10677ee6b5191c0934b584d7cbaef2d0662856ffb", "projects/policies/worlds/g1_hstand_deploy.omniworld": "68dd8fa6f453bc2c0eab12b1c8065eb268a886f204af4ce3db16a7f2468a6a62" }, "binary_sha256": "1a5283b9e47e3037c08c96c084ca9c381d946d2b9857d55370a982cb1174f9ae", "runtime_sha256": { "lib\\controller\\Controller.dll": "0bd8db2b5018d7fe181cdaf7ea9a54d8e968066e7e93dca10b348fbb66082736", "msys64\\mingw64\\bin\\newton-runtime\\site-packages\\omnisim_newton_runtime.py": "f2f8135589fb6fe07086869a533b37525a1109c37704f3062ff93ec95bd229f1" }, "assist": "No weight-bearing harness or external pushes. One-time joint-pose initialization; then motor control only.", "qualification": "selected_candidate_passed_confirmations_and_held_out_checks", "rejected_attempts": [], "attempt_count": 14, "additional_timing_inputs": [], "validation_boundary": "Candidate selected from grid data before the longer-duration held-out checks.", "known_limits": [] }